Endoscopic device

ABSTRACT

This application provides an endoscopic device having at least one shaft with at least one portion deflectable, and having at least one deflection mechanism, which is configured to deflect the deflectable portion and includes at least one first connection member and at least one second connection member. When the connection members are arranged in a straight position relative to each other, a straight-position spacing exists defined by a shortest connection between a geometric midpoint of the first connection member and a geometric midpoint of the second connection member and, when the connection members are arranged in a deflection position relative to each other, a deflection-position spacing exists which is defined by a shortest connection between a geometric midpoint of the first connection member and a geometric midpoint of the second connection member, and the deflection-position spacing in the deflection position is greater than the straight-position spacing in the straight position.

PRIOR ART

The invention relates to an endoscopic device according to the preambleof claim 1, to an endoscope and/or endoscopic instrument having anendoscopic device, according to claim 11, to a surgical system having anendoscopic device, according to claim 12, and to a method for operatingand/or producing an endoscopic device, according to claim 13.

An endoscopic device has already been proposed having at least oneshaft, which has at least one portion deflectable in at least one plane,and having at least one deflection mechanism, which is configured todeflect the deflectable portion and comprises, arranged in series, atleast one first connection member and at least one second connectionmember interacting for a deflection with the first connection member.

The object of the invention is in particular to make available a deviceof this kind which has improved properties in terms of its functionalityAccording to the invention, the object is achieved by the features ofclaims 1, 11, 12 and 13, while advantageous embodiments and developmentsof the invention are set forth in the dependent claims.

Advantages of the Invention

The invention proceeds from an endoscopic device having at least oneshaft, which has at least one portion deflectable in at least one plane,and having at least one deflection mechanism, which is configured todeflect the deflectable portion and comprises, arranged in series, atleast one first connection member and at least one second connectionmember interacting for a deflection with the first connection member.

In one aspect of the invention, which can be considered in particular incombination with further aspects of the invention, it is proposed that,when the first connection member and the second connection member arearranged in a straight position relative to each other, astraight-position spacing exists which is defined by a shortestconnection between a geometric midpoint of the first connection memberand a geometric midpoint of the second connection member, and, when thefirst connection member and the second connection member are arranged ina deflection position relative to each other, a deflection-positionspacing exists which is defined by a shortest connection between ageometric midpoint of the first connection member and a geometricmidpoint of the second connection member, and the deflection-positionspacing of the connection members in the deflection position is greaterthan the straight-position spacing of the connection members in thestraight position.

In this way, a functionality of the endoscopic device can advantageouslybe improved. It is advantageously possible to avoid a situation whereconnection members of the deflection mechanism are arranged randomly inrelation to each other upon a return of the deflectable portion from abasic deflection position. Instead, it is possible to achieve anautomatic return of the connection members to their basic position inthe manner of a self-alignment. It is thus advantageously possible toavoid a situation where connection members arranged randomly in relationto each other impede a function of the endoscopic device and/or causeinjury to a patient, for example if the endoscopic device has to beinserted into a patient and/or extracted from the latter in anemergency.

An “endoscopic device” should be understood in particular to mean aconstituent part, preferably a functional constituent part, inparticular a subassembly and/or a structural component and/or functionalcomponent of an endoscopic instrument and/or of an endoscope.Alternatively, the endoscopic device can at least partly, preferably atleast largely and particularly preferably completely embody an endoscopeand/or an endoscopic instrument. “Endoscopically” should be understoodin particular as also meaning minimally invasive. The expression “atleast largely” should be understood to mean in particular at least 55%,preferably at least 65%, preferably at least 75%, particularlypreferably at least 85%, and very particularly preferably at least 95%,or advantageously completely, to be precise in relation to a volumeand/or mass of an object, in particular. The endoscopic device is, forexample, configured to be introduced, at least partly and preferably atleast largely, into an orifice, in particular an artificial and/ornatural orifice, in particular a body orifice, in order to perform atreatment and/or observation there. An endoscopic instrument can, forexample, be in the form of endoscopic forceps, endoscopic scissors, anendoscopic scalpel, an endoscopic stapler or the like. It is conceivablethat the endoscopic device is configured to provide at least one, two ormore electrical potentials, for example in order for tissue to be cut,sealed, coagulated and/or the like. In particular, “configured” shouldbe understood to mean specifically programmed, provided, designed and/orequipped. An object being configured for a specific function should beunderstood to mean in particular that the object satisfies and/orcarries out this specific function in at least one application stateand/or operational state. If the endoscopic device has for example atleast one shaft, the latter is configured to be introduced, at leastpartly and preferably at least largely, into an orifice, in particularan artificial and/or natural orifice, in particular a body orifice. Theshaft comprises for example at least one end portion and/or further endportion, wherein for example the end portion is a distal end portionand/or the further end portion is a proximal end portion. “Distal”should be understood in particular to mean facing a patient and/ordistant from a user during operation. “Proximal” should be understood inparticular to mean distant from a patient and/or facing a user duringoperation. The shaft has for example an axis of principal extent. Anaxis of principal extent of an object should be understood as an axiswhich runs through the geometric midpoint and/or center of gravity ofthe object and is at least substantially parallel to a direction ofprincipal extent of the object. Here, a “direction of principal extent”of an object should be understood in particular to mean a direction thatextends parallel to a longest edge of a smallest imagined cuboid thatjust still completely surrounds the object. A longitudinal extent forexample of the shaft is identical to the direction of principal extentof the latter. Here, “at least substantially parallel” should beunderstood in particular as an orientation of a direction relative to areference direction, in particular in a plane, wherein the direction andthe reference direction enclose an angle of 0° in particular inconsideration of a maximum deviation of less than 8°, advantageously ofless than 5° and particularly advantageously of less than 2°. A widthcan be measured at least substantially perpendicular to the longitudinalextent. Here, “at least substantially perpendicular” should beunderstood in particular as an orientation of a direction relative to areference direction, in particular in a plane, wherein the direction andthe reference direction enclose an angle of 90°, in particular inconsideration of a maximum deviation of less than 8°, advantageously ofless than 5° and particularly advantageously of less than 2°. Theendoscopic device can have a plurality of components that can be atleast substantially identical to one another. “At least substantiallyidentical” should be understood to mean either identical or identicalapart from assembly and/or production tolerances. The endoscopic devicecan be designed integrally at least in part. The fact that “an objectand a further object have an at least partly integralembodiment/connection” should be understood to mean in particular thatat least one element and/or part of the object and at least one elementand/or part of the further object have an integralembodiment/connection. In particular, “integral” should be understood tomean at least cohesively bonded, for example by a welding process, anadhesive bonding process, a spraying process and/or any other processappearing expedient to a person skilled in the art. “Integral” should beunderstood in particular as meaning formed in one piece, for example byproduction from one cast and/or by production in a single-component ormultiple-component injection method and, advantageously, from a singleblank. Components of the endoscopic device should be connected to oneanother at least partially by form-fit and/or force-fit engagement.Here, “force-fit and/or form-fit engagement” should be understood inparticular as meaning connected, preferably releasably connected,wherein a holding force is transmitted between two objects preferably bygeometric interlocking of the structural components in one anotherand/or by a frictional force that preferably acts between the objects.Alternatively or in addition, components of the endoscopic device can beconnected to one another by cohesive bonding. “Cohesive bonding” shouldbe understood in particular as meaning that the objects are heldtogether by atomic or molecular forces, for example by soldering,welding, adhesion and/or vulcanization. Moreover, the endoscopic devicecan be part of a surgical system. A surgical system should be understoodin particular as a system configured for performing a surgicalprocedure, for example an endoscopic and/or minimally invasiveprocedure, which system comprises at least one surgical robot. Thesurgical robot can comprise at least one surgical robot arm or aplurality of surgical robot arms. The endoscopic device can becontrollable and/or actuatable by the surgical robot, in particular thesurgical robot arm. The endoscopic device can be able to be coupledreleasably to the surgical robot, for example in order to permitexchange and/or cleaning of the endoscopic device. Moreover, thesurgical system can comprise at least one controller, which isconfigured for manual and/or automated control of the surgical robot.

The shaft can have a deflectable portion. For the deflection of theshaft, the endoscopic device can have at least one deflection mechanism.The deflection mechanism is designed in particular for a mechanicaldeflection of the deflectable portion of the shaft. The shaft isdeflectable in particular in at least one further plane, which isdifferent from the at least one plane. For example, the further planecan be perpendicular to the plane. It is moreover conceivable that theshaft is deflectable along its circumference in any desired planes.

In particular, the deflection mechanism can comprise at least one andpreferably several first connection members, which for example can bedesigned at least substantially identical to one another. In particular,the deflection mechanism can comprise at least two and preferablyseveral second connection members, which for example can be designed atleast substantially identical to one another. The first connectionmembers and the second connection members can be arranged alternating inseries. Except at edge regions of the deflection mechanism, a connectionmember can be adjoined by two second connection members, or vice versa.It is moreover conceivable that at least one second connection memberdefines an edge region of the deflection mechanism, or two secondconnection members define opposite edge regions of the deflectionmechanism. Here, a second connection member can be designed and/orconnected at least partially integrally with an end portion of the shaftand/or the end-effector head. A first connection member is engaged, inparticular from two opposite sides, by a respective second connectionmember. Moreover, two first connection members engage from two oppositesides in a second connection member, respectively. The first connectionmember and the second connection member can be connected to each otherin the manner of a ball joint. In particular, the first connectionmember has at least one joint head, and the second connection member hasat least one joint socket, which together interact in the manner of aball joint.

The first connection member is designed as a rotation body. The firstconnection member has a first axis of rotational symmetry. The firstconnection member has in particular an olive-like shape. The secondconnection member is designed as a rotation body. The second connectionmember has a second axis of rotational symmetry. The second connectionmember has in particular a disk-like shape. A “straight-positionspacing” should be understood in particular as a position of at leastthe first connection member and the second connection member, inparticular of all the first and second connection members, in which thefirst axis of rotational symmetry and the second axis of rotationalsymmetry, in particular all the axes of rotational symmetry of theconnection members, are oriented at least substantially parallel to oneanother or are even identical to one another. A “deflection position”should be understood in particular as a position of at least the firstconnection member and of the second connection member, in particular ofall the first and second connection members, in which the first axis ofrotational symmetry and the second axis of rotational symmetry, inparticular all the axes of rotational symmetry of the connectionmembers, are arranged at an angle to one another and are preferablyoffset relative to one another by the same angle. Being arranged “at anangle” should be understood in particular as different than beingarranged at least substantially parallel.

The end effector and the actuation train can additionally be coupledelectrically to each other, for example in order to transmit at leastone electrical potential from the actuation train to the end effector,in particular a tool piece of the end effector. The actuation train hasin particular at least one inner cable, which is preferably designed tobe flexible. In particular, the inner cable can be designed to beflexible over an entire extent of the actuation train. It is conceivablethat the inner cable can be designed to be electrically conductive, forexample in order to transmit an electrical potential. Moreover, theactuation train can have at least one outer cable, which canadvantageously be arranged coaxially surrounding the inner cable. Inparticular, the outer cable can be designed to be flexible over at leasta large part of an extent of the actuation train. It is conceivable thatthe outer cable can be designed to be electrically conductive, forexample in order to transmit a further electrical potential. The outercable could be designed as a hose. For example, the outer cable could bedesigned as a woven fabric.

The control train of the deflection mechanism is in particular designedto be flexurally slack. A “flexurally slack component” should beunderstood in particular as a component, preferably an elongatecomponent, which has flexurally slack properties at least in onedirection perpendicular to a direction of principal extent. It shouldpreferably be understood in particular as a dimensionally non-stablecomponent. Particularly preferably, it should be understood inparticular as a component which, in an elongated state of a pressureforce acting parallel to a direction of principal extent, exerts acounterforce which is less than a weight force of the component.Preferably, the counterforce is at most 70%, preferably at most 50% andparticularly preferably at most 30% of a weight force. Here, an“elongate component” should be understood in particular as a componenthaving a transverse extent that is many times smaller than alongitudinal extent. Here, “many times smaller” should be understood inparticular as at least 3 times smaller, preferably at least 5 timessmaller and particularly preferably at least 10 times smaller.

It is proposed that a spacing between the geometric midpoints of theconnection members increases at least by 0.3 μm per degree of adeflection of these from the straight position. Bracing of theconnection members relative to each other during a deflection canadvantageously be increased, as a result of which it is possible toachieve a self-resetting, which can return the connection members to thestraight position. Moreover, a degree of self-resetting canadvantageously be adjusted depending on an increase in the spacing. Atotality of the connection members of the deflection mechanism results,during a deflection of these from the straight position, in an increasein all the spacings relative to each other by at least 1.8 μm per degreeof a deflection. For example, during a deflection by at least 90°, thereis thus an increase in all the spacings relative to each other by atleast 162 μm. Moreover, particularly with a deflection of at least 90°,an angle of at least 15° arises between a first connection member and asecond connection member.

In one aspect of the invention, which can be considered in particular incombination with further aspects of the invention, it is proposed thatthe first connection member has at least one outer contour and thesecond connection member has at least one inner contour interacting withthe outer contour of the first connection member, wherein the innercontour and/or the outer contour are/is other than concave.

In this way, an endoscopic device can advantageously be equipped with aresetting function. It is advantageously possible to avoid a situationwhere connection members of the deflection mechanism are orientedrandomly relative to each other upon a return of the deflectable portionfrom a basic deflection position.

An “outer contour” is to be understood in particular as an outwardlydirected contour. An “inner contour” is to be understood in particularas an inwardly directed contour. The outer contour and the inner contourbear in particular on each other. It is conceivable that either only theinner contour or the outer contour has a shape other than concave.However, it is preferable that both the inner contour and the outercontour have a shape other than concave. In particular, the innercontour and the outer contour are not shaped corresponding to eachother.

It is proposed that the outer contour and the inner contour bear on eachother at most in part. A rolling of the connection members on each othercan advantageously be improved, since they do not bear on each otherover a large surface area, and therefore a frictional resistance can bereduced.

It is further proposed that the outer contour and/or the inner contourare convex. A rolling of the connection members on each other canadvantageously be further improved, since they do not bear on each otherover a large surface area, and therefore a frictional resistance can bereduced. In particular, the outer contour and the inner contour can beconvex. Moreover, either the outer contour or the inner contour could beconvex. It is moreover conceivable that the outer contour and/or theinner contour are/is neither convex nor concave. For example, the outercontour and/or the inner contour could be straight. Preferably, theouter contour can be convex and the inner contour straight.

It is further proposed that a diameter of a smallest arc of a circlestill completely enclosing the outer contour is greater than aconnection member width of the first connection member measuredperpendicularly to a direction of longitudinal extent of the shaft. Aself-resetting can advantageously be further improved. Moreover, adegree of self-resetting, i.e. in particular a spacing between thegeometric midpoints of the connection members, can advantageously beadjusted depending on a ratio of the diameter and of the width. In otherwords, a midpoint of the smallest arc of a circle that encloses theouter contour lies in particular to the other side of a geometricmidpoint of the connection member.

It is further proposed that the outer contour and/or the inner contourare/is different at least in part from an arc of a circle. Rolling ofthe connection members on each other can advantageously be furtherimproved. Moreover, a self-aligning or self-locking action of theconnection members can advantageously be further improved. Inparticular, either the outer contour or the inner contour could be, atleast in part, different from an arc of a circle. It is moreoverconceivable that the outer contour and the inner contour are, at leastin part, different from an arc of a circle.

It is moreover proposed that the outer contour and/or the inner contourare/is designed corresponding at least in part to a shape of an arc of acircle, a circle involute, a cycloid, a paraboloid and/or an ellipsoid.Rolling of the connection members on each other can advantageously befurther improved. Moreover, a self-aligning or self-locking action ofthe connection members can advantageously be further improved. Inparticular, either the outer contour or the inner contour could bedesigned corresponding at least in part to a shape of an arc of acircle, a circle involute, a cycloid, a paraboloid and/or an ellipsoid.It is moreover conceivable that the outer contour and the inner contourare designed corresponding at least in part to a shape of an arc of acircle, a circle involute, a cycloid, a paraboloid and/or an ellipsoid.

It is further proposed that the endoscopic device has at least oneflexurally slack control train on which the connection members arearranged in rows and which, in the straight position of the connectionmembers, keeps the connection members pretensioned. A deflection of theconnection members can advantageously be improved.

It is proposed that the deflection mechanism has a number of firstconnection members and a number of second connection members, wherein adifference between the number of the first connection members and thenumber of the second connection members is different than zero. Aself-resetting can advantageously be further improved. Moreover, adegree of self-resetting, in particular a spacing between the geometricmidpoints of the connection members, can advantageously be adjusteddepending on a number of the connection members. Preferably, thedeflection mechanism has an odd number of first connection members. Inthe present case, the deflection mechanism can have three firstconnection members, Preferably, the deflection mechanism has an evennumber of second connection members. In the present case, the deflectionmechanism can have four second connection members.

The subject matter of the present disclosure is not intended to berestricted to the usage and embodiment described above. In particular,the subject matter of the present disclosure may, in order to realize afunctionality described herein, have a number of individual elements,components and units, and also method steps, which differs from a numberstated herein. Moreover, in the case of the value ranges specified inthis disclosure, values lying within the stated limits are also intendedto be disclosed and usable as desired.

If there is more than one instance of a specific object, only one ofthem is provided with a reference sign in the figures and in thedescription. The description of this instance can accordingly betransferred to other instances of the object.

DRAWINGS

Further advantages will become clear from the following description ofthe drawings. The drawings illustrate exemplary embodiments of thedisclosure. The drawings, the description and the claims containnumerous features in combination. A person skilled in the art willexpediently also consider the features individually and combine them toform meaningful further combinations.

In the drawings:

FIG. 1 shows a schematic perspective view of a surgical system having anendoscopic device,

FIG. 2 shows a schematic side view of a part of the endoscopic devicelocated in a straight position,

FIG. 3 shows a schematic side view of a part of the endoscopic devicelocated in a deflection position,

FIG. 4 shows a schematic sectional view of a part of the endoscopicdevice located in a straight position,

FIG. 5 shows a schematic sectional view of a part of the endoscopicdevice located in a deflection position,

FIG. 6 shows a schematic perspective view of a part of the endoscopicdevice located in a partially dismantled state,

FIG. 7 shows schematically at least one part of a further endoscopicdevice, in a sectional view along a shaft of the endoscopic device,

FIG. 8 shows schematically at least one part of the endoscopic devicefrom FIG. 7 , in a sectional view transverse to a shaft of theendoscopic device,

FIG. 9 shows a schematic perspective view of a part of the endoscopicdevice from FIG. 7 ,

FIG. 10 shows schematically at least one part of an alternativeendoscopic device, in a sectional view along a shaft of the endoscopicdevice in a straight position,

FIG. 11 shows schematically at least one part of the endoscopic devicefrom FIG. 10 , in a sectional view along the shaft of the endoscopicdevice in a deflection position,

FIG. 12 shows a schematic perspective view of at least one part of afurther endoscopic device,

FIG. 13 shows a schematic perspective view of at least one part of anadditional endoscopic device, in an assembly state,

FIG. 14 shows a schematic perspective view of at least one part of theendoscopic device from FIG. 13 , in a further assembly state,

FIG. 15 shows a schematic perspective view of at least one part of theendoscopic device from FIG. 13 and FIG. 14 , in an additional assemblystate,

FIG. 16 shows a schematic plan view of at least one part of a furtherendoscopic device,

FIG. 17 shows a schematic perspective view of at least one part of analternative endoscopic device,

FIG. 18 shows a schematic perspective view of at least one part of analternative endoscopic device, in an assembly state,

FIG. 19 shows a schematic perspective view of at least one part of theendoscopic device from FIG. 18 , in a mounted state,

FIG. 20 shows a schematic perspective view of at least one part of theendoscopic device from FIG. 18 , in an assembly state,

FIG. 21 shows a schematic perspective view of at least one part of theendoscopic device from FIG. 18 , in a further assembly state,

FIG. 22 shows a schematic perspective view of at least one part of theendoscopic device from FIG. 18 , in a mounted state,

FIG. 23 shows a schematic side view of at least one part of analternative endoscopic device in a straight position,

FIG. 24 shows schematically at least one part of the endoscopic devicefrom FIG. 23 , in a sectional view along a shaft of the endoscopicdevice in the straight position,

FIG. 25 shows a schematic side view of at least one part of theendoscopic device from FIGS. 23 and 24 , in a deflection position,

FIG. 26 shows schematically at least one part of the endoscopic devicefrom FIGS. 23,24 and 25 , in a sectional view along the shaft of theendoscopic device in the deflection position,

FIG. 27 shows a schematic perspective view of at least one part of analternative endoscopic device, in an assembly state.

DESCRIPTION OF THE EXEMPLARY EMBODIMENTS

FIG. 1 shows a schematic perspective view of a surgical system 10 a. Thesurgical system 10 a comprises at least one surgical robot 12 a. Thesurgical system 10 a moreover comprises at least one controller 14 a.The controller 14 a is configured to control the surgical robot 12 a.

The surgical robot 12 a is configured to guide at least one endoscopicdevice 16 a of the surgical system 10 a. For this purpose, the surgicalrobot 12 a has at least one robot arm 18 a. In an operating state, theendoscopic device 16 a is coupled to the robot arm 18 a. The endoscopicdevice 16 a can be connected releasably to the robot arm 18 a, forexample in order to exchange it, modify it, sterilize it or the like. Inthe present case, the surgical robot 12 a has a plurality of robot arms.Of said robot arms, for the sake of clarity only the robot arm 18 a isprovided with a reference sign.

The surgical system 10 a comprises at least one endoscopic device 16 a.In the present case, the surgical system 10 a comprises a plurality ofendoscopic devices. The surgical robot 12 a has one robot arm 18 a perendoscopic device 16 a. Of said endoscopic devices, for the sake ofclarity only the endoscopic device 16 a is provided with a referencesign. The plurality of endoscopic devices could be designedsubstantially identical to one another. Substantially identical can meanexcept for production and/or assembly tolerances. However, it isconceivable that the plurality of endoscopic devices could be designedto be at least partially different from one another and, for example,could differ from one another in terms of an end effector and/or a modeof function. Moreover, it would be obvious for a person skilled in theart to adapt the plurality of endoscopic devices for different surgicaluses according to his knowledge in the art.

The endoscopic device 16 a at least partially forms an endoscopicinstrument 20 a. In the present case, the endoscopic device 16 acompletely forms an endoscopic instrument 20 a. However, an endoscopicdevice could only be a constituent part of an endoscopic instrument.Moreover, an endoscopic device, for example one of the plurality ofendoscopic devices, could at least partially or completely form anendoscope 22 a. However, an endoscopic device could also only be aconstituent part of an endoscope.

FIG. 2 shows a schematic side view of a part of the endoscopic device 16a located in a straight position. Moreover, FIG. 3 shows a schematicside view of a part of the endoscopic device 16 a located in adeflection position.

The endoscopic device 16 a has at least one shaft 26 a. In the presentcase, the endoscopic device 16 a has precisely one shaft 26 a. The shaft26 a has a direction of longitudinal extent 38 a. The direction oflongitudinal extent 38 a corresponds to a direction of principal extentof the shaft 26 a in the straight position. A longitudinal extent 40 aof the shaft 26 a extends along the direction of longitudinal extent 38a of the shaft 26 a.

The shaft 26 a comprises at least one end portion 28 a. The end portion28 a is a distal end portion. The end portion 28 a is configured for thetreatment of a patient. Moreover, the shaft 26 a has a further endportion 30 a. The further end portion 30 a is a proximal end portion.The further end portion 30 a is configured for coupling to the surgicalrobot 12 a, for example to the robot arm 18 a thereof. The end portion28 a and the further end portion 30 a lie opposite each other. Moreover,the shaft 26 a has a middle portion 32 a. The middle portion 32 aconnects the end portion 28 a and the further end portion 30 a to eachother. The middle portion 32 a is arranged between the end portion 28 aand the further end portion 30 a.

The shaft 26 a has a main framework 34 a. The main framework 34 aextends from the end portion 28 a to the further end portion 30 a of theshaft 26 a. Moreover, the shaft 26 a has a shaft jacket 36 a. The shaftjacket 36 a at least partially surrounds the main framework 34 a. In thepresent case, the shaft jacket 36 a at least largely surrounds the mainframework 34 a. The shaft jacket 36 a is arranged coaxially to the mainframework 34 a. The shaft jacket 36 a at least partially surrounds themiddle portion 32 a. In the present case, the shaft jacket 36 a at leastlargely surrounds the middle portion 32 a. Moreover, the shaft 26 a canhave a shaft casing. For the sake of clarity, a shaft casing is notshown in the figures, so as to be able to better show the structure ofthe main framework 34 a. A shaft casing can be configured to seal offthe shaft 26 a from the outside.

The shaft 26 a has at least one deflectable portion 42 a. Thedeflectable portion 42 a is arranged between the end portion 28 a andthe further end portion 30 a. The deflectable portion 42 a is part ofthe middle portion 32 a. The deflectable portion 42 a directly adjoinsthe end portion 28 a. The deflectable portion 42 a is spaced apart fromthe further end portion 30 a. Alternatively, it is conceivable that adeflectable portion at least partially forms an end portion, for examplea distal end portion. Advantageously, the deflectable portion could besurrounded by a shaft casing. The shaft casing can be at least partiallyelastic and/or flexible. For example, the shaft casing can be a rubberhose.

The deflectable portion 42 a is deflectable in at least one plane 44 a.In FIG. 2 , the plane 44 a corresponds to an image plane of the figure.In the present case, the deflectable portion 42 a is even deflectable ina plurality of planes, of which, for the sake of clarity, only the plane44 a is provided with a reference sign and shown in the figures. In thepresent case, the deflectable portion 42 a is even deflectable along afull circumference of the shaft 26 a. The deflectable portion 42 a isdesigned to be at least partially flexible.

The main framework 34 a of the shaft 26 a has a cuff 56 a. The cuff 56 aat least partially forms the end portion 28 a of the shaft 26 a. Thecuff 56 a adjoins the deflectable portion 42 a at the distal end.Moreover, the main framework 34 a of the shaft 26 a has a further cuff58 a. The further cuff 58 a at least partially forms the middle portion32 a of the shaft 26 a. The further cuff 58 a adjoins the deflectableportion 42 a at the proximal end.

The endoscopic device 16 a has at least one deflection mechanism 46 a.The deflection mechanism 46 a is configured for the deflection of thedeflectable portion 42 a of the shaft 26 a. In the region of thedeflectable portion 42 a, the deflection mechanism 46 a at leastpartially forms the main framework 34 a of the shaft 26 a.

The deflection mechanism 46 a has at least one first connection member48 a. In the present case, the deflection mechanism 46 a has a pluralityof first connection members, for example three first connection members.Of the plurality of first connection members, for the sake of clarityonly the first connection member 48 a is provided with a reference sign.The plurality of first connection members are designed substantiallyidentical. A description of the first connection member 48 a can beapplied to the plurality of first connection members. Alternatively,however, the plurality of first connection members could also bedesigned differing at least partially from one another.

The first connection member 48 a is symmetrical. The first connectionmember 48 a is designed substantially as a rotation body. The firstconnection member 48 a has a first axis of rotational symmetry 52 a.About the first axis of rotational symmetry 52 a, the first connectionmember 48 a has at least one two-fold rotational symmetry. For example,a number of a first rotational symmetry could correspond to a number ofplanes in which the deflectable portion is deflectable. In a straightposition, the direction of longitudinal extent 38 a of the shaft 26 acorresponds to the first axis of rotational symmetry. Moreover, thedeflection mechanism 46 a has at least one second connection member 50a. In the present case, the deflection mechanism 46 a has a plurality ofsecond connection members, for example four second connection members.Of the plurality of second connection members, for the sake of clarityonly the second connection member 50 a is provided with a referencesign. Unless otherwise indicated, the plurality of second connectionmembers are designed substantially identically. A description withrespect to the second connection member 50 a can thus be applied to theplurality of second connection members. Alternatively, the plurality ofsecond connection members 50 a could also be designed differing at leastpartially from one another.

The second connection member 50 a is arranged at least partiallycoaxially surrounding the first connection member 48 a. The secondconnection member 50 a has an external diameter which is greater than anexternal diameter of the first connection member 48 a. The secondconnection member 50 a has a disk-like and/or lens-like shape. The firstconnection member 48 a has an olive-like shape.

The second connection member 50 a is symmetrical. The second connectionmember 50 a is designed substantially as a rotation body. The secondconnection member 50 a has a second axis of rotational symmetry 54 a.About the second axis of rotational symmetry 54 a, the second connectionmember 50 a has at least one two-fold rotational symmetry. For example,a number of a first rotational symmetry could correspond to a number ofplanes in which the deflectable portion is deflectable. Moreover, arotational symmetry of the second connection member 50 a can correspondto that of the first one. In a straight position, the direction oflongitudinal extent 38 a of the shaft 26 a corresponds to the secondaxis of rotational symmetry 54 a. Moreover, in the straight position,the second axis of rotational symmetry 54 a corresponds to the firstaxis of rotational symmetry 52 a.

A difference between a number of the plurality of first connectionmembers and a number of the plurality of second connection members isdifferent than zero. In the present case, the difference corresponds tothe value one, such that the plurality of second connection membersalways comprise one second connection member 50 a more than theplurality of first connection members comprise first connection members.A number of the plurality of first connection members is odd. A numberof the plurality of second connection members is even. In the presentcase, the plurality of first connection members comprise a total ofthree first connection members. Moreover, in the present case, theplurality of second connection members comprise a total of four secondconnection members.

Two of the plurality of second connection members complete thedeflectable portion 42 a of the shaft 26 a. One of the plurality ofsecond connection members, advantageously a distal one, is connected tothe cuff 56 a. In the present case, the distal second connection member50 a is integrally connected to the cuff 56 a. This second connectionmember 50 a connects the deflection mechanism 46 a at least partiallyintegrally to the end portion 28 a of the shaft 26 a.

Another of the plurality of second connection members, advantageously aproximal one, is connected to the further cuff 58 a. In the presentcase, the proximal second connection member 50 a is integrally connectedto the further cuff 58 a. This second connection member 50 a connectsthe deflection mechanism 46 a at least partially integrally to themiddle portion 32 a of the shaft 26 a.

The first connection member 48 a and the second connection member 50 aare configured to interact with each other for a deflection of the shaft26 a. The first connection member 48 a and the second connection member50 a are arranged in series.

The plurality of first connection members and the plurality of secondconnection members are arranged in series. The plurality of firstconnection members and the plurality of second connection members arearranged in alternation. The plurality of first connection members andthe plurality of second connection members are arranged in such a waythat a first connection member of the plurality of first connectionmembers is followed by a second connection member of the plurality ofsecond connection members. Moreover, a second connection member of theplurality of second connection members is followed by a first connectionmember of the plurality of first connection members.

A first connection member of the plurality of first connection membersis adjoined by at least one second connection member of the plurality ofsecond connection members. Moreover, a first connection member of theplurality of first connection members is adjoined by two mutuallyopposite second connection members of the plurality of second connectionmembers. Each of the plurality of first connection members is adjoinedby two second connection members of the plurality of second connectionmembers.

A second connection member of the plurality of second connection membersis adjoined by at least one first connection member of the plurality ofsecond connection members. Moreover, a second connection member of theplurality of second connection members is adjoined by two mutuallyopposite first connection members of the plurality of second connectionmembers. Except for the second connection members completing thedeflection mechanism, each of the plurality of second connection membersis adjoined by two first connection members of the plurality of firstconnection members.

FIG. 4 shows a schematic sectional view of a part of the endoscopicdevice 16 a located in a straight position. Moreover, FIG. 3 shows aschematic sectional view of a part of the endoscopic device 16 a locatedin a deflection position.

The first connection member 48 a and the second connection member 50 ainteract in the manner of a ball joint and/or of vertebral bodies. Thefirst connection member 48 a has at least one joint head 60 a. Thesecond connection member 50 a has at least one joint socket 62 a. Thejoint socket 62 a is designed corresponding to the joint head 60 a. Inthis way, the joint head 60 a of the first connection member 48 a andthe joint socket 62 a of the second connection member 50 a engage ineach other, such that the first connection member 48 a and the secondconnection member 50 a are mounted movably relative to each other. Areverse embodiment is also conceivable in which a first connectionmember has a joint socket and the second connection member has a jointhead 60 a.

In the present case, the first connection member 48 a has two oppositejoint heads 60 a. Of said joint heads, for the sake of clarity only thejoint head 60 a is provided with a reference sign. The joint heads aredesigned substantially identical to each other. In the present case, thesecond connection member 50 a has two opposite joint sockets 62 a. Ofsaid joint sockets, for the sake of clarity only the joint socket 62 ais provided with a reference sign. The joint sockets 62 a are designedsubstantially identical to each other. Only the second connectionmembers of the plurality of second connection members that complete thedeflection mechanism 46 a have only a single joint socket 62 a each.

A first connection member 48 a of the plurality of first connectionmembers is at all times engaged from two opposite sides by two secondconnection members of the plurality of second connection members. To putit another way, opposite joint heads of an individual first connectionmember 48 a of the plurality of first connection members are in eachcase engaged by a joint socket 62 a of two second connection members ofthe plurality of second connection members. In this way, two jointsockets of two separate second connection members of the plurality ofsecond connection members bear on two joint heads of an individual firstconnection member 48 a of the plurality of first connection members.

Moreover, two first connection members at all times engage from twoopposite sides in a second connection member 50 a of the plurality ofsecond connection members. To put it another way, joint heads of twofirst connection members of the plurality of first connection memberseach engage in one of the opposite joint sockets 62 a of a secondconnection member 50 a of the plurality of second connection members. Inthis way, two joint heads of two separate first connection members ofthe plurality of first connection members bear on two joint sockets ofan individual second connection member 50 a of the plurality of secondconnection members.

Only the second connection members of the plurality of second connectionmembers that complete the deflection mechanism 46 a engage around only asingle first connection member 48 a of the plurality of first connectionmembers. To put it another way, only one joint head 60 a of a singlefirst connection member 48 a of the plurality of first connectionmembers engages in each case in the single joint socket 62 a of thesecond connection member 50 a of the plurality of second connectionmembers that completes the deflection mechanism. In this way, only asingle joint head of a first connection member 48 a of the plurality offirst connection members bears in a single joint head 60 a of anindividual second connection member 50 a of the plurality of secondconnection members that completes this deflection mechanism 46 a.

In the straight position, which is shown for example in FIGS. 2 and 4 ,a first axis of rotational symmetry 52 a of the first connection member48 a and a second axis of rotational symmetry 54 a of the secondconnection member 50 a correspond to each other. In the deflectionposition, which is shown for example in FIGS. 3 and 5 , the direction ofprincipal extent of the first connection member 48 a and that of thesecond connection member 50 a are arranged at an angle to each other. Inthe deflection position, an angle between the first axis of rotationalsymmetry 52 a of the first connection member 48 a and the second axis ofrotational symmetry 54 a of the second connection member 50 a is at most15°. A maximum angle is limited here by the fact that two of theplurality of second connection members engaging around a firstconnection member of the plurality of first connection members abouteach other.

The first connection member 48 a has a first geometric midpoint 64 a.Moreover, the second connection member 50 a has a second geometricmidpoint 66 a. In the straight position, the first geometric midpoint 64a and the second geometric midpoint 66 a are arranged offset relative toeach other along the direction of longitudinal extent 38 a of the shaft26 a. In the straight position, a straight-position spacing 68 a existsbetween the first connection member and second connection member. Thestraight-position spacing 68 a is defined by a shortest connectionbetween the first geometric midpoint 64 a of the first connection member48 a and the second geometric midpoint 66 a of the second connectionmember 50 a.

In the deflection position, the first geometric midpoint 64 a and thesecond geometric midpoint 66 a are arranged offset relative to eachother. In the deflection position, a deflection spacing 70 a existsbetween the first connection member 48 a and second connection member 50a. In the deflection position, the deflection spacing 70 a is defined bya shortest connection between the first geometric midpoint 64 a of thefirst connection member 48 a and the second geometric midpoint 66 a ofthe second connection member 50 a. In the present exemplary embodiment,the deflection-position spacing 70 a in the deflection position is equalto the straight-position spacing 68 a in the straight position.Alternatively, however, the deflection spacing could also be greater orless than the straight-position spacing 68 a, for example depending onan embodiment of the connection members.

The first connection member 48 a has at least one outer contour 72 a.The outer contour 72 a partially forms the joint head 60 a of the firstconnection member 48 a. The outer contour 72 a is directed outward. Theouter contour 72 a faces in the direction of an environment of the shaft26 a. The design of the outer contour 72 a differs from concave. In thepresent case, the outer contour 72 a is of convex design. The outercontour 72 a corresponds to an arc of a circle 76 a. Alternatively, theouter contour could have at least in part a shape different from theshape of an arc of a circle, being designed for example in the form of acircle involute, a cycloid, a paraboloid and/or an ellipsoid.

There exists a diameter 74 a of a smallest arc of a circle 76 a stilljust completely enclosing the outer contour 72 a of the first connectionmember 48 a. In the present exemplary embodiment, this diameter 74 acorresponds substantially to a maximum width of the first connectionmember. Here, the width is measured perpendicular to the first axis ofrotational symmetry 52 a and/or to the direction of longitudinal extent38 a of the shaft 26 a. However, it is also conceivable that a diameteris different from a width and is for example greater than the latter.

The second connection member 50 a has at least one inner contour 78 a.The inner contour 78 a at least partially forms the joint socket 62 a ofthe second connection member 50 a. The inner contour 78 a of the secondconnection member 50 a is configured for interaction with the outercontour 72 a of the first connection member. The outer contour 72 a ofthe first connection member 48 a and the inner contour 78 a of thesecond connection member 50 a lie opposite each other. The outer contour72 a and the inner contour 78 a bear at most partially on each other.The inner contour 78 a of the second connection member 50 a is designedcorresponding to the outer contour 72 a of the first connection member48 a. The inner contour 78 a is directed inward. The design of the innercontour 78 a differs from concave. Moreover, in the present case, theinner contour 78 a is straight. Alternatively, an inner contour could bedesigned corresponding at least partially to an in particular convexshape of a circle involute, an arc of a circle, a cycloid, a paraboloidand/or an ellipsoid.

The deflection mechanism 46 a has at least one control train 80 a. Inthe present case, the deflection mechanism 46 a has a plurality ofcontrol trains 80 a, for example at least three control trains. Of saidplurality of control trains, for the sake of clarity only the controltrain 80 a is provided with a reference sign. The plurality of controltrains are arranged offset relative to one another along a circumferenceof the shaft 26 a. The plurality of control trains extend substantiallyparallel to one another. Moreover, the plurality of control trains arearranged coaxially surrounding at least the first connection member oreven the plurality of first connection members. The plurality of controltrains are here designed substantially identically, such that adescription with respect to the control train 80 a can be applied to theplurality of control trains. Alternatively, the plurality of controltrains could also be designed at least partially different from oneanother.

The control train 80 a is configured for an adjustment of a deflectionof the deflectable portion 42 a of the shaft 26 a. The control train 80a can be actuated by means of an actuator system. For the sake ofclarity, the actuator system is not shown here. The actuator system canbe part of the endoscopic device 16 a or also part of the surgical robot12 a, for example of the robot arm 18 a. The control train 80 a extendsat least partially through the shaft 26 a. In the present case, thecontrol train 80 a extends through the entire shaft 26 a. Moreover, thecontrol train 80 a even extends partially beyond the shaft 26 a, forexample in order to be coupled to an actuator system.

The control train 80 a is coupled to the connection members 48 a, 50 a.The connection members 48 a, 50 a are arranged in a row on the controltrain 80 a. At least in the straight position, the control train 80 akeeps the connection members 48 a, 50 a pretensioned. Alternatively orin addition, a control train could be configured for a rotation of ashaft.

The control train 80 a is designed to be flexurally slack. In thepresent case, the control train 80 a is designed as a wire. The controltrain 80 a is formed from a cord, for example a metal cord. The controltrain 80 a has a diameter 74 a. The diameter can be at least 2.5% and/orat most 25% of an external diameter of the shaft 26 a. In the presentcase, the diameter 74 a measures 0.36 mm, for example.

The control train 80 a is guided substantially parallel to the shaft 26a. The control train 80 a extends at least partially parallel to adirection of longitudinal extent 38 a of the shaft 26 a. Moreover, thecontrol train 80 a is guided in doubled form. The control train 80 a isdivided into a portion which is guided in the direction of the endportion 28 a and away from the further end portion 30 a, and a portionwhich is guided away from the end portion 28 a and in the direction ofthe further end portion 30 a.

For guiding the control train 80 a, the second connection member 50 ahas at least one passageway 82 a. The passageway 82 a has at leastfunnel-shaped or two funnel-shaped openings. In the present case, thesecond connection member has a plurality of passageways of which, forthe sake of clarity, only the passageway 82 a is provided with areference sign. The plurality of passageways are arranged offsetrelative to each other along a circumference of the second connectionmember 50 a. The plurality of passageways are substantially identical toone another, such that a description with respect to the passageway 82 acan be applied to the plurality of passageways. Alternatively, theplurality of passageways could also be designed at least partiallydifferent from one another.

In each case, two passageways of the second connection member 50 a guideone control train 80 a. A passageway 82 a of the second connectionmember 50 a guides a portion of the control train 80 a guided away fromthe further end portion 30 a, and a further passageway 82 a of thesecond connection member 50 a guides a portion of the control train 80 aguided away from the end portion 28 a.

FIG. 6 shows a schematic perspective view of a part of the endoscopicdevice 16 a in a partially dismantled state. The control train 80 a isconnected to the end portion 28 a of the shaft 26 a. In the region ofthe end portion 28 a of the shaft 26 a, a part of the control train 80 ais arranged to form a loop-back 84 a.

The end portion 28 a of the shaft 26 a has at least one train receptacle86 a. The train receptacle 86 a is arranged on the cuff 56 a. Thecontrol train 80 a is arranged at least partially in the trainreceptacle 86 a. The part of the control train 80 a forming theloop-back 84 a is arranged in the train receptacle 86 a. Before theloop-back 84 a, the train receptacle 86 a guides the control train 80 ain the direction of the end portion 28 a of the shaft 26 a. After theloop-back 84 a, the train receptacle 86 a guides the control train 80 aback again from the end portion 28 a of the shaft 26 a. The trainreceptacle 86 a has at least one passageway 88 a for at least an axialengagement of the control train 80 a.

In the present case, the train receptacle 86 a has a plurality ofpassageways. For the sake of clarity, of the passageways only thepassageway 88 a is provided with a reference sign. The passageways arearranged on the cuff 56 a. The passageways are arranged offset relativeto one another in the circumferential direction of the shaft 26 a. Ineach case, two passageways of the end portion 28 a guide a control train80 a. Alternatively, instead of a looped-back control train, twoindividual control trains could be used. A passageway 82 a of the secondconnection member 50 a guides a portion of the control train 80 a guidedaway from the further end portion 30 a, and a further passageway 88 a ofthe second connection member 50 a guides a portion of the control train80 a guided away from the end portion 28 a.

The endoscopic device 16 a has at least one end effector 90 a. in FIGS.2 and 4 , the end effector 90 a is shown in a closed operating state. InFIGS. 3 and 5 , the end effector 90 a is shown in an opened operatingstate. In the present case, the endoscopic device 16 a has precisely oneend effector 90 a. The end effector 90 a is arranged on an end portion28 a of the shaft 26 a. The end effector 90 a is connected at leastpartially integrally to the end portion 28 a of the shaft 26 a. In thepresent case, the end effector 90 a is designed in the form of forceps.The end effector 90 a can also be designed in the form of scissors, aclamp, forceps, a scalpel, a coagulator, a stapler, a test hook or thelike. An end effector could be configured to be electrically conductive,in order advantageously to transmit current. For example, an endeffector could thus be unipolar, bipolar or the like.

The end effector 90 a comprises at least one tool piece 92 a. In thepresent case, the end effector 90 a has at least one further tool piece94 a. The further tool piece 94 a is configured for interaction with thetool piece 92 a. The further tool piece 94 a is substantially identicalto the tool piece 92 a. In the present case, the end effector 90 acomprises two tool pieces 92 a, 94 a in total. A tool piece could be ascissor blade, a cutting edge, an electrode or another tool piece, inparticular a surgical tool piece. In the present case, the tool piece 92a, 94 a forms a jaw part. The jaw part is a branch. The branch can beadapted to a specific purpose of use.

The end effector 90 a has an end-effector head 96 a. The end-effectorhead 96 a is connected integrally to an end portion 28 a of the shaft 26a. The end-effector head 96 a is formed integrally with the cuff 56 a.Moreover, the end-effector head 96 a is integrally connected to thesecond connection member that distally completes the deflectionmechanism 46 a.

The end-effector head 96 a has an end-effector fork 98 a. Theend-effector fork 98 a comprises at least one end-effector limb 100 a.Moreover, the end-effector fork 98 a comprises a further end-effectorlimb 102 a. The end-effector limb 100 a and the further end-effectorlimb 102 a are arranged lying opposite each other. The end-effector limb100 a and the further end-effector limb 102 a are connected to eachother. The end-effector limb 100 a and the further end-effector limb 102a of the end-effector head 96 a are integrally connected to each other.

The end-effector head 96 a defines an end-effector bushing 104 a of theend effector 90 a. Further components of the endoscopic device 16 a, forexample a movement transducer 116 a, can be arranged in the end-effectorbushing 104 a.

The endoscopic device 16 a has at least one actuation train 106 a. Inthe present case, the endoscopic device 16 a has precisely one actuationtrain 106 a. The actuation train 106 a is configured for actuation ofthe end effector 90 a. The actuation train 106 a can be actuated bymeans of an actuator system. The actuator system can be part of theendoscopic device 16 a or also part of the surgical robot 12 a,specifically of the robot arm 18 a for example.

The actuation train 106 a extends at least partially through the shaft26 a. The actuation train 106 a extends centrally through the shaft 26a. In the present case, the actuation train 106 a extends through theentre shaft 26 a. Moreover, the actuation train 106 a even extendspartially beyond the shaft 26 a, for example in order to be coupled toan actuator system.

The actuation train 106 a is at least partially flexible. The actuationtrain 106 a has at least one flexible portion 108 a. The actuation train106 a is at least partially inflexible. Moreover, the actuation train106 a has at least one inflexible portion 110 a. The inflexible portion110 a is less flexible compared to the flexible portion 108 a. Theflexible portion 108 a is arranged following the inflexible portion 110a.

The actuation train 106 a is arranged in the shaft 26 a in such a waythat the flexible portion 108 a of the actuation train 106 a iscongruent with the deflectable portion 42 a of the shaft 26 a. Theactuation train 106 a is therefore flexible in the region of thedeflectable portion 42 a of the shaft 26 a.

The actuation train 106 a has at least one inner cable 112 a. The innercable 112 a is designed as a cord. Alternatively, the inner cable couldalso have a solid wire. The inner cable 112 a is configured at least fora mechanical force transmission. The inner cable 112 a is at leastpartially flexible, for example in the flexible portion of the actuationtrain 106 a. In the present case, the inner cable 112 a is flexible overthe full extent of the actuation train 106 a.

The actuation train 106 a has at least one reinforcement 114 a. Thereinforcement 114 a stiffens the actuation train 106 a at leastpartially. The reinforcement 114 a stiffens the actuation train 106 a atleast in a region of the shaft 26 a different from the flexible portion108 a. The reinforcement 114 a partially stiffens the inner cable 112 a.The reinforcement 114 a is arranged coaxially surrounding the innercable 112 a. The reinforcement 114 a is designed as a tube. Thereinforcement 114 a is formed at least partially from a metal.Alternatively or in addition, the reinforcement 114 a can be formed atleast partially from a plastic. The reinforcement 114 a is arranged inthe inflexible portion 110 a of the actuation train 106 a. By contrast,the flexible portion 108 a of the actuation train 106 a is free of areinforcement 114 a.

The endoscopic device 16 a has at least one movement transducer 116 a.In the present case, the endoscopic device 16 a has precisely onemovement transducer 116 a. The movement transducer 116 a is configuredto couple the end effector 90 a and the actuation train 106 a at leastmechanically to each other. Alternatively, it would be conceivable thatthe movement transducer also connects the end effector and the actuationtrain electrically to each other.

The movement transducer 116 a is configured to convert a movement of theactuation train 106 a into a movement of at least one tool piece 92 a.The movement of the actuation train 106 a is a linear movement. Themovement of the tool piece 92 a is a pivoting movement. It would beconceivable that the further tool piece 94 a is arranged fixedly or, inother words, is immovable. In the present case, however, the furthertool piece 94 a is also coupled to the actuation train 106 a via themovement transducer 116 a. The movement transducer 116 a is configuredto convert a movement of the actuation train 106 a into a movement ofthe further tool piece 94 a. The movement of the further tool piece 94 ais a pivoting movement.

Independently of an operating state, the movement transducer 116 a isarranged such that it cannot emerge from inside at least one part of theend effector 90 a. In the present case, the movement transducer 116 a isarranged at least largely in the end-effector head 96 a, independentlyof an operating state. The movement transducer 106 a is arranged atleast largely in the end-effector bushing 104 a of the end-effector head96 a, independently of an operating state. Independently of an operatingstate, the end-effector head 96 a, in a side view, at least largelycovers the movement transducer 116 a. The movement transducer 116 a iscovered laterally by the end-effector fork 98 a, since it is arrangedcongruent with the end-effector limbs 100 a, 102 a of the end-effectorfork 98 a. In the present case, in a side view, at least oneend-effector limb 100 a, 102 a of the end-effector fork 98 a of theend-effector head 96 a at least largely covers the movement transducer.

The movement transducer 116 a defines at least one pivot axis 118 a. Thepivot axis 118 a is configured for the pivoting of the tool piece 92 a.The pivot axis 118 a is oriented at least substantially perpendicular toan axis of principal extent 120 a of the end effector 90 a. The pivotaxis 118 a is arranged offset laterally with respect to an axis ofprincipal extent 120 a of the end effector 90 a. To put it another way,the axis of principal extent 120 a of the end effector 90 a and thepivot axis 118 a do not intersect. Moreover, an imaginary plane existswhich is parallel to the axis of principal extent 120 a of the endeffector 90 a and on which the pivot axis 118 a is orientedsubstantially perpendicularly.

The movement transducer 116 a has a mechanical force path. By way of themechanical force path, the movement transducer 116 a transmits a forcefrom the actuation train 106 a at least to the tool piece 92 a of theend effector 90 a. In the present case, the movement transducer 106 ahas at least one further mechanical force path. By way of the furthermechanical force path, the movement transducer transmits a force fromthe actuation train 106 a to the further tool piece 94 a of the endeffector 90 a.

The movement transducer 116 a comprises at least one push and/or pullpiston 122 a. In the present case, the movement transducer 116 acomprises precisely one push and/or pull piston 122 a. Independently ofan operating state, the push and/or pull piston 122 a is arranged atleast largely in the end-effector bushing 104 a. In a side view, thepush and/or pull piston 122 a is concealed by the end-effector fork 98a, for example by the end-effector limb 100 a and/or the furtherend-effector limb 102 a of the end-effector fork 98 a. The push and/orpull piston 122 a is at least connected to the actuation train 106 a forthe force transmission. Moreover, the push and/or pull piston 122 acould be connected electrically to the actuation train 106 a.

The push and/or pull piston 122 a is guided linearly. The end-effectorhead 96 a has a piston guide 126 a. The piston guide 126 a is designedcorresponding to at least one part of the push and/or pull piston 122 a.The piston guide 126 a is configured for a linear guiding of the pushand/or pull piston 122 a. The push and/or pull piston 122 a has a bolt124 a. The bolt 124 a has a cylindrical shape. The bolt 124 a isarranged in a piston guide 126 a of the end-effector head 96 a.

The actuation train 106 a and the push and/or pull piston 122 a areconnected to each other at least by form-fit and/or force-fitengagement. In the present case, the actuation train 106 a and the pushand/or pull piston 122 a are even connected to each other by frictionalengagement. The actuation train 106 a and the push and/or pull piston122 a are connected to each other by a plastic deformation of the pushand/or pull piston 122 a and/or of the actuation train 106 a. The pushand/or pull piston 122 a and/or the actuation train 106 a are crimped toeach other. In the present case, the bolt 124 a of the push and/or pullpiston 122 a is designed for connection to the actuation train 106 a.

The bolt 124 a of the push and/or pull piston 122 a defines an actuationtrain receptacle 128 a. The actuation train 106 a is inserted partiallyinto the actuation train receptacle 128 a. The bolt 124 a is pressedtogether with the actuation train 106 a. In this way, the actuationtrain 106 a is pressed into the bolt 124 a. Alternatively or inaddition, the actuation train and the push and/or pull piston could beconnected to each other at least by cohesive bonding. For example, theactuation train and the push and/or pull piston could be soldered and/oradhesively bonded to each other. For example, the bolt 124 a has fillingholes into which an adhesive or soldering tin can be inserted forcohesively bonded connection into the actuation train receptacle.

The push and/or pull piston 122 a has an armature 130 a. The armature130 a is substantially plate-shaped. The armature 130 a has the shape ofa substantially circular contour. The end-effector fork 98 a forms anabutment for the armature 130 a. The armature 130 a is greater in atleast one dimension than the piston-guide receptacle. In this way, thearmature 130 a limits a linear movement of the push and/or pull piston122 a or of the actuation train 106 a. The armature 130 a is arranged inthe end-effector bushing 104 a. In a side view, the armature 130 a isconcealed by the end-effector fork 98 a, for example by the end-effectorlimb 100 a and/or the further end-effector limb 102 a of theend-effector fork 98 a. The armature 130 a is connected to the bolt 124a.

The push and/or pull piston 122 a is formed at least partiallyintegrally. In the present case, the armature 130 a and the bolt 124 aof the push and/or pull piston 122 a are integrally connected to eachother. Alternatively, the push and/or pull piston could also be designedin multiple parts. In the present case, the armature 130 a and the bolt124 a are connected integrally to each other. The push and/or pullpiston 122 a is formed at least partially from metal. For example, thepush and/or pull piston 122 a can also be an injection-molded component.

The movement transducer 116 a has at least one pivot lever 132 a. Thepivot lever 132 a is connected at least mechanically to the push and/orpull piston 122 a. The pivot lever 132 a is connected to the endeffector 90 a. The pivot lever 132 a is connected to the tool piece 92a. In the present case, the pivot lever 132 a is connected integrally tothe tool piece 92 a. The pivot lever 132 a is arranged at leastpartially in the end-effector bushing 104 a. In the present case, thepivot lever 132 a is arranged at least partially in the end-effectorbushing 104 a. In a side view, the pivot lever 132 a is concealed by theend-effector fork 98 a, for example by the end-effector limb 100 aand/or the further end-effector limb 102 a of the end-effector fork 98a. The pivot lever 132 a bears on the push and/or pull piston 122 a,specifically for example on the armature 130 a of the push and/or pullpiston 122 a.

The pivot lever 132 a has a pivot lever main body 134 a. The pivot levermain body 134 a is substantially plate-shaped. In a side view, the pivotlever main body 134 a has a circular contour. The pivot lever main body134 a is formed integrally with the tool piece 92 a.

The movement transducer 116 a has a coupling mechanism 136 a. Thecoupling mechanism 136 a is configured at least for a mechanicalcoupling of the pivot lever 132 a and of the push and/or pull piston 122a. The coupling mechanism 136 a is formed at least partially by thepivot lever 132 a. Moreover, the coupling mechanism 136 a is formed atleast partially by the push and/or pull piston 122 a. The couplingmechanism 136 a has at least one coupling element 138 a. The couplingmechanism 136 a has at least one corresponding coupling element 140 a.The corresponding coupling element 140 a is designed corresponding tothe coupling element 138 a. The coupling element 138 a and thecorresponding coupling element 140 a together define the pivot axis 118a of the movement transducer 116 a, which is oriented at leastsubstantially perpendicular to an axis of principal extent 120 a of theend effector 90 a and is arranged laterally offset relative to thelatter.

The coupling element 138 a is part of the push and/or pull piston 122 a.The coupling element 138 a is arranged on the armature 130 a of the pushand/or pull piston 122 a. The coupling element 138 a is connectedrigidly to the armature 130 a. The coupling element 138 a is arrangedoffset relative to a geometric midpoint 64 a, 66 a of the armature 130a. The coupling element 138 a is arranged offset relative to the axis ofprincipal extent 120 a. In the present case, the coupling element 138 ais designed as a cam.

The corresponding coupling element 140 a is part of the pivot lever 132a. The corresponding coupling element 140 a is arranged on the pivotlever main body 134 a and/or connected thereto. The correspondingcoupling element 140 a is arranged offset relative to a geometricmidpoint 64 a, 66 a of the pivot lever main body 134 a. Thecorresponding coupling element 140 a is arranged offset relative to theaxis of principal extent 120 a of the end effector 120 a. In the presentcase, the corresponding coupling element 140 a is designed as a camcarrier, for example in the form of a laterally opened recess of thepivot lever 132 a. When the push and/or pull piston 122 a and the pivotlever 132 a are coupled to each other by means of the coupling mechanism136 a, the coupling element 138 a and the corresponding coupling element140 a engage in each other and make mutual contact. Alternatively, theembodiments of the coupling element and of the corresponding couplingelement could also be changed around. For example, the coupling elementcould thus be designed as a cam carrier and the corresponding couplingelement could be designed as a cam.

The movement transducer 116 a has a rotary bearing 142 a. The rotarybearing 142 a is configured at least for a rotary mounting of the toolpiece 92 a relative to the end-effector head 96 a. The rotary bearing142 a is formed at least partially by the pivot lever 132 a. Moreover,the rotary bearing 142 a is formed at least partially by theend-effector head 96 a. The rotary bearing 142 a has at least onebearing element 144 a. The rotary bearing 142 a has at least onecorresponding bearing element 146 a. The corresponding bearing element146 a is designed corresponding to the bearing element 144 a. Thebearing element 144 a and the corresponding bearing element 146 atogether define a rotary axis 148 a about which the tool piece 92 arotates upon actuation of the tool piece 92 a. The rotary axis 148 a isoriented at least substantially perpendicular to an axis of principalextent 120 a of the end effector 90 a and is arranged laterally offsetrelative thereto. Moreover, the rotary axis 148 a is arrangedsubstantially parallel to the pivot axis 118 a. In relation to an axisof principal extent 120 a of the end effector 90 a, the rotary axis 148a lies opposite the pivot axis 118 a.

The bearing element 144 a is part of the pivot lever 132 a. The bearingelement 144 a is arranged on the pivot lever main body 134 a and/orconnected thereto. The bearing element 144 a is arranged offset relativeto a geometric midpoint 64 a, 66 a of the pivot lever main body 134 a.The bearing element 144 a is arranged offset relative to the axis ofprincipal extent 120 a of the end effector 90 a. The bearing element 144a lies opposite the corresponding coupling element 140 a. In the presentcase, the bearing element 144 a is designed as a cam.

The corresponding bearing element 146 a is part of the end-effector head96 a. The corresponding bearing element 146 a is arranged on theend-effector limb 100 a of the end-effector fork 98 a and/or connectedthereto. The corresponding bearing element 146 a is arranged offsetrelative to a geometric midpoint 64 a, 66 a of the end-effector limb 100a. The corresponding bearing element 146 a is arranged offset relativeto the axis of principal extent 120 a of the end effector 90 a. In thepresent case, the corresponding bearing element 146 a is designed as acam carrier, for example in the form of a laterally opened recess of theend-effector limb 100 a. When the pivot lever 132 a and the end-effectorhead 96 a are mounted rotatably to each other by means of the rotarybearing 142 a, the bearing element 144 a and the corresponding couplingelement 140 a engage in each other and make mutual contact.Alternatively, the embodiments of the bearing element and of thecorresponding bearing element could also be changed around. For example,the bearing element could thus be designed as a cam carrier and thecorresponding bearing element could be designed as a cam.

The movement transducer 116 a has at least one further pivot lever 150a. The further pivot lever 150 a is connected at least mechanically tothe push and/or pull piston 122 a. The further pivot lever 150 a isconnected to the end effector 90 a. The further pivot lever 150 a isconnected to the further tool piece 94 a. In the present case, thefurther pivot lever 150 a is connected integrally to the further toolpiece 94 a. The further pivot lever 150 a is arranged at least partiallyin the end-effector bushing 104 a. In the present case, the furtherpivot lever 150 a is arranged at least partially in the end-effectorbushing 104 a. In a side view, the further pivot lever 150 a isconcealed by the end-effector fork 98 a, for example by the end-effectorlimb 100 a and/or the further end-effector limb 102 a of theend-effector fork 98 a. The further pivot lever 150 a bears on the pushand/or pull piston 122 a, specifically for example on the armature 130 aof the push and/or pull piston 122 a. The further pivot lever 150 abears on the push and/or pull piston 122 a on a side lying opposite thepivot lever 132 a.

The further pivot lever 150 a has a further pivot lever main body 152 a.The further pivot lever main body 152 a is plate-shaped. In a side view,the further pivot lever main body 152 a has a circular contour. Thefurther pivot lever main body 152 a is formed integrally with thefurther tool piece 94 a.

The movement transducer 116 a has a further coupling mechanism 154 a.The further coupling mechanism 154 a is configured at least for amechanical coupling of the further pivot lever 150 a and of the pushand/or pull piston 122 a. The further coupling mechanism 154 a is formedat least partially by the further pivot lever 150 a. Moreover, thefurther coupling mechanism 154 a is formed at least partially by thepush and/or pull piston 122 a. The further coupling mechanism 154 a hasat least one further coupling element 156 a. The further couplingmechanism 154 a has at least one further corresponding coupling element158 a. The further corresponding coupling element 158 a is designedcorresponding to the coupling element 156 a. The further couplingelement 156 a and the further corresponding coupling element 158 atogether define the further pivot axis 160 a of the movement transducer116 a, which is oriented at least substantially perpendicular to an axisof principal extent 120 a of the end effector 90 a and is laterallyoffset relative thereto. In relation to the axis of principal extent 120a, the further pivot axis 160 a lies opposite the pivot axis 118 a. Thefurther pivot axis 160 a is substantially parallel to the pivot axis 108a.

The further coupling element 156 a is part of the push and/or pullpiston 122 a. The further coupling element 156 a is arranged on thearmature 130 a of the push and/or pull piston 122 a. The furthercoupling element 156 a is arranged on the side of the armature 130 alying opposite the side on which the coupling element 138 a is arranged.The further coupling element 156 a is connected rigidly to the armature130 a. The further coupling element 156 a is arranged offset relative toa geometric midpoint 64 a, 66 a of the armature 130 a. The furthercoupling element 156 a is arranged offset relative to the axis ofprincipal extent 120 a. In the present case, the further couplingelement 156 a is designed as a cam.

The further corresponding coupling element 158 a is part of the furtherpivot lever 150 a. The further corresponding coupling element 158 a isarranged on the further pivot lever main body 152 a and/or connectedthereto. The further corresponding coupling element 158 a is arrangedoffset relative to a geometric midpoint 64 a, 66 a of the further pivotlever main body 152 a. The further corresponding coupling element 158 ais arranged offset relative to the axis of principal extent 120 a of theend effector 90 a. In the present case, the further correspondingcoupling element 158 a is designed as a cam carrier, for example in theform of a laterally opened recess of the further pivot lever 150 a. Whenthe push and/or pull piston 122 a and the further pivot lever 150 a arecoupled to each other by means of the further coupling mechanism 154 a,the further coupling element 156 a and the corresponding couplingelement 158 a engage in each other and make mutual contact.Alternatively, the embodiments of the further coupling element and ofthe further corresponding coupling element could also be changed around.For example, the further coupling element could thus be designed as acam carrier and the further corresponding coupling element could bedesigned as a cam.

The movement transducer 116 a has a further rotary bearing 162 a. Thefurther rotary bearing 162 a is configured at least for a rotarymounting of the further tool piece 94 a relative to the end-effectorhead 96 a. The further rotary bearing 162 a is formed at least partiallyby the further pivot lever 150 a. Moreover, the further rotary bearing162 a is formed at least partially by the end-effector head 96 a. Thefurther rotary bearing 162 a has at least one further bearing element164 a. The further rotary bearing 162 a has at least one furthercorresponding bearing element 166 a. The further corresponding bearingelement 166 a is designed corresponding to the further bearing element164 a. The further bearing element 164 a and the further correspondingbearing element 166 a together define a further rotary axis 168 a aboutwhich the further tool piece 94 a rotates upon actuation of the furthertool piece 94 a. The further rotary axis 168 a is oriented at leastsubstantially perpendicular to an axis of principal extent 120 a of theend effector 90 a and is arranged laterally offset relative thereto.Moreover, the further rotary axis 168 a is arranged substantiallyparallel to the further pivot axis 160 a. In relation to an axis ofprincipal extent 120 a of the end effector 90 a, the further rotary axis168 a lies opposite the further pivot axis 160 a.

The further bearing element 164 a is part of the further pivot lever 150a. The further bearing element 164 a is arranged on the further pivotlever main body 152 a and/or connected thereto. The further bearingelement 164 a is arranged offset relative to a geometric midpoint 64 a,66 a of the further pivot lever main body 152 a. The further bearingelement 164 a is arranged offset relative to the axis of principalextent 120 a of the end effector 90 a. The further bearing element 164 alies opposite the corresponding further coupling element 156 a. In thepresent case, the further bearing element 164 a is designed as a cam.

The further corresponding bearing element 166 a is part of theend-effector head 96 a. The further corresponding bearing element 166 ais arranged on the further end-effector limb 102 a of the end-effectorfork 98 a and/or connected thereto. The further corresponding bearingelement 166 a is arranged offset relative to a geometric midpoint 64 a,66 a of the further end-effector limb 102 a. The further correspondingbearing element 166 a is arranged offset relative to the axis ofprincipal extent 120 a of the end effector 90 a. In the present case,the further corresponding bearing element 166 a is designed as a camcarrier, for example in the form of a laterally opened recess of thefurther end-effector limb 102 a. When the further pivot lever 150 a andthe end-effector head 96 a are mounted rotatably to each other by meansof the further rotary bearing 162 a, the further bearing element 164 aand the further corresponding coupling element 158 a engage in eachother and make mutual contact. Alternatively, the embodiments of thefurther bearing element and of the further corresponding bearing elementcould also be changed around. For example, the further bearing elementcould thus be designed as a cam carrier and the further correspondingbearing element could be designed as a cam.

The movement transducer 116 a has a guide bearing 170 a. The guidebearing 170 a is configured to guide constituent parts of the movementtransducer 116 a. For guiding of the pivot lever 132 a, the guidebearing 170 a has a slotted guide 172 a. The slotted guide 172 a isdesigned in the form of a curved oblong hole. The slotted guide 172 a isdefined by the pivot lever 132 a. The slotted guide 172 a extendsthrough a geometric midpoint 64 a, 66 a of the pivot lever 132 a. Theslotted guide 172 a is formed by a recess of the pivot lever main body134 a.

For guiding the further pivot lever 150 a, the guide bearing 170 a has afurther slotted guide 174 a. The further slotted guide 174 a is designedin the form of a curved oblong hole. Compared to the slotted guide 172a, the further slotted guide 174 a is at least rotated through 180°. Thefurther slotted guide 174 a is defined by the further pivot lever 150 a.The further slotted guide 174 a extends through a geometric midpoint 64a, 66 a of the further pivot lever 150 a. The further slotted guide 174a is formed by a recess of the further pivot lever main body 152 a.

For guiding the push and/or pull piston 122 a, the guide bearing 170 ahas an additional slotted guide 176 a. The additional slotted guide 176a is designed in the form of a straight oblong hole. The additionalslotted guide 176 a is defined by the push and/or pull piston 122 a. Thefurther slotted guide 174 a extends through a geometric midpoint 64 a,66 a of the armature 130 a of the push and/or pull piston 122 a. Theadditional slotted guide 176 a is formed by a recess of the furtherarmature 130 a.

The guide bearing 170 a moreover comprises a guide pin 178 a. The guidepin 178 a is arranged extending through the slotted guide 172 a.Moreover, the guide pin 178 a is arranged extending through theadditional slotted guide 176 a. Moreover, the guide pin 178 a isarranged extending through the further slotted guide 174 a. The guidepin 178 a is connected to the end-effector head 96 a, specifically forexample to the end-effector fork 98 a. The end-effector limb 100 a ofthe end-effector fork 98 a has a pin receptacle 180 a. The pinreceptacle is designed for form-fit and/or force-fit connection to theguide pin 178 a. Moreover, the further end-effector limb 102 a of theend-effector fork 98 a has a further pin receptacle 182 a. The furtherpin receptacle 182 a is designed for from-fit and/or force-fitconnection to the guide pin 178 a. In a mounted state, the guide pin 178a extends through the pin receptacle 180 a, the slotted guide 172 a, theadditional slotted guide 176 a, the further slotted guide 174 a and thefurther pin receptacles 182 a. The guide pin 178 a secures the pivotlever, the further pivot lever 150 a and the push and/or pull piston 122a on the end-effector head 96 a.

FIGS. 7 to 27 show further exemplary embodiments according to thedisclosure. The following descriptions and the drawings aresubstantially restricted to the differences between the exemplaryembodiments, wherein, in respect of components with the same label, inparticular in respect of components with the same reference signs,reference is also made, as a matter of principle, to the drawings and/orthe description of the other exemplary embodiments, in particular ofFIGS. 1 to 6 . All combinations of the exemplary embodiments mentionedhere should also be considered disclosed. In order to distinguish theexemplary embodiments, the letter a has been appended to the referencesigns of the exemplary embodiment in FIGS. 1 to 6 . In the exemplaryembodiments of FIGS. 7 to 27 , the letter a has been replaced by theletters b to j.

FIG. 7 shows schematically a further exemplary embodiment of at leastone part of an endoscopic device 16 b according to the principles of thepresent disclosure, in a sectional view along a shaft 26 b of theendoscopic device 16 b. The present exemplary embodiment differs fromthe preceding one essentially in terms of an electrification of theendoscopic device 16 b.

The endoscopic device 16 b has an actuation train 106 b. The actuationtrain 106 b has at least one electrical pole conductor 184 b. Theelectrical pole conductor 184 b is configured to provide at least oneelectrical potential for at least one tool piece 92 b of an end effector90 b of the endoscopic device 16 b. The electrical pole conductor 184 bis designed as an inner conductor. The electrical pole conductor 184 bis formed by an inner cable 112 b of the actuation train 106 b. It isconceivable that the electrical pole conductor can be configured toprovide an equal electrical potential for the tool piece and the furthertool piece.

The actuation train 106 b has at least one further electrical poleconductor 186 b. The further electrical pole conductor 186 b isconfigured to provide at least one further electrical potential for afurther tool piece 94 b of the end effector 90 b of the endoscopicdevice 16 b. The electrical pole conductor 184 b has a principal extent.Moreover, the further electrical pole conductor 186 b has a furtherprincipal extent. The principal extent of the electrical pole conductor184 b is greater than a further principal extent of the furtherelectrical pole conductor 186 b. The further electrical pole conductor186 b is designed separately from the electrical pole conductor 184 b.The further electrical pole conductor 186 b is configured to provide atleast one further electrical potential. The further electrical poleconductor 186 b coaxially surrounds the electrical pole conductor 184 b.The further electrical pole conductor 186 b is designed as an outerconductor. The further electrical pole conductor 186 b has a tubulardesign. The further electrical pole conductor 186 b is formed at leastpartially from a braid. The actuation train 106 b has an outer cable 188b. The outer cable 188 b is arranged surrounding the inner cable 112 b.The outer cable 188 b forms the further electrical pole conductor 186 b.

FIG. 8 shows schematically at least one part of the endoscopic device 16b in a sectional view transverse to the shaft 26 b. The actuation train106 b has at least one electrical insulator 190 b. The electricalinsulator 190 b is formed at least partially from an insulationmaterial. The insulation material has a CTI value of at least 150. Inthe present case, the insulation material even has a CTI value of morethan 600. The insulation material can be PEEK, for example. In thepresent case, the insulation material is atetrafluoroethylene-hexafluoropropylene copolymer (FEP) or aperfluoralkoxy polymer (PFA). The plastic can be flexible and/orelastic. The electrical insulator 190 b coaxially surrounds theelectrical pole conductor 184 b. The electrical insulator 190 b isarranged between the electrical pole conductor 184 b and the furtherelectrical pole conductor 186 b. The actuation train 106 b has at leastone further electrical insulator 192 b. The further electrical insulator192 b coaxially surrounds the further electrical pole conductor 186 b.

The endoscopic device 16 b has a movement transducer 116 b (cf. FIG. 7). The movement transducer 116 b is configured to mechanically couplethe end effector 90 b and the actuation train 106 b. In the presentexemplary embodiment, the movement transducer 116 b is additionallyconfigured to electrically couple the end effector 90 b and theactuation train 106 b. The movement transducer 116 b connects at leastthe electrical pole conductor 184 b to the tool piece 92 b. In thepresent case, the movement transducer 116 b connects the electrical poleconductor 184 b electrically to the tool piece 92 b. Moreover, themovement transducer 116 b connects the further electrical pole conductor186 b electrically to the further tool piece 94 b.

A mechanical force path of the movement transducer 116 b, by way ofwhich a force is transmitted from the actuation train 106 b to the toolpiece 92 b, and an electrical conduction path of the movement transducer116 b, by way of which the electrical potential is transmitted to thetool piece 92 b, are identical in the present case. Moreover, amechanical force path of the movement transducer 116 b, by way of whicha force is transmitted from the actuation train 106 b to the furthertool piece 94 b, and an electrical conduction path of the movementtransducer 116 b, by way of which the further electrical potential istransmitted to the further tool piece 94 b, are identical in the presentcase.

The movement transducer 116 b is partially electrically conductive. Forthis purpose, the movement transducer 116 b is made at least partiallyfrom a metal. The movement transducer 116 b is formed partially from afurther insulation material. The further insulation material has a CTIvalue of at least 150. In the present case, the further insulationmaterial even has a CTI value of more than 600. The further insulationmaterial can be PEEK, for example. In the present case, the furtherinsulation material is a cycloolefin copolymer (COC) and/or polymethylpentene. Only components of the movement transducer 116 b that areconfigured to transmit movement from the actuation train 106 b to thetool piece 92 b are at least partially free of insulation material inorder to let through the electrical potential. Only components of themovement transducer 116 b that are configured to transmit movement fromthe actuation train 106 b to the further tool piece 94 b are at leastpartially free of insulation material in order to let through thefurther electrical potential.

For electrical connection, a push and/or pull piston 122 b of themovement transducer 116 b has at least one electrical pole conductorextension 194 b. The electrical pole conductor extension 194 b iselectrically connected to the electrical pole conductor 184 b of theactuation train 106 b. Moreover, the electrical pole conductor extension194 b is mechanically connected to the electrical pole conductor 184 bof the actuation train 106 b.

The electrical pole conductor extension 194 b extends partially throughan armature 130 b of the push and/or pull piston 122 b. In the region ofthe armature 130 b, the electrical pole conductor extension 194 b iselectrically and/or mechanically connected to a further component of themovement transducer 116 b. Moreover, the electrical pole conductorextension 194 b extends at least partially through a bolt 124 b of thepush and/or pull piston 122 b. In the region of the bolt 124 b, theelectrical pole conductor extension 194 b is electrically connected tothe electrical pole conductor 184 b.

The electrical pole conductor extension 194 b has an electronic poleconductor extension main body 202. The electrical pole conductorextension 194 b has a pole conductor sleeve 198 b. The electrical poleconductor extension 194 b is enclosed in the pole conductor sleeve 198b. The pole conductor sleeve 198 b is arranged in the region of the bolt124 b of the push and/or pull piston 122 b. The pole conductor sleeve198 b is firmly connected to a pole conductor extension main body 202 bof the electrical pole conductor extension 194 b. In the present case,the pole conductor sleeve 198 b is welded to the pole conductorextension main body 202 b.

The electrical pole conductor extension 194 b is designed at leastpartially as a flat strip. The pole conductor extension main body 202 bis designed as a flat strip. The electrical pole conductor extension 194b is made at least partially from metal. The pole conductor extensionmain body 202 b can be sheet metal, for example.

The electrical pole conductor extension 194 b is hook-shaped in a sideview. The electrical pole conductor extension 194 b engages at leastpartially around an additional guide slot 176 b of the push and/or pullpiston 122 b. The electrical pole conductor extension 194 b is designedat least partially as a sheet metal component, in particular a laser-cutsheet metal component. The pole conductor extension main body 202 b is asheet metal component, in particular a laser-cut sheet metal component.Alternatively, the electronic pole conductor extension could be an atleast partially generatively produced component. For example, theelectrical pole conductor extension could be produced by means of alaser melting and/or laser sintering method.

Moreover, the push and/or pull piston 122 b has at least the furtherinsulation material. The electrical pole conductor extension 194 b is atleast partially covered with the further insulation material. In thepresent case, the electrical pole conductor extension 194 b is even atleast largely covered with the further insulation material. In thepresent case, the further insulation material encapsulates theelectrical pole conductor extension 194 b. The electronic pole conductorextension 194 b covered with the further insulation material forms atleast partially the push and/or pull piston 122 b.

For further electrical connection, the push and/or pull piston 122 b ofthe movement transducer 116 b has at least one further electrical poleconductor extension 196 b. The further electrical pole conductorextension 196 b is electrically connected to the further electrical poleconductor 186 b of the actuation train 106 b. Moreover, the furtherelectrical pole conductor extension 196 b is connected mechanically tothe further electrical pole conductor 186 b of the actuation train 106b.

The further electrical pole conductor extension 196 b extends partiallythrough the armature 130 b of the push and/or pull piston 122 b. In theregion of the armature 130 b, the further electrical pole conductorextension 196 b is electrically and/or mechanically connected to afurther component of the movement transducer 116 b. Moreover, thefurther electrical pole conductor extension 196 b extends at leastpartially through the bolt 124 b of the push and/or pull piston 122 b.In the region of the bolt 124 b, the further electrical pole conductorextension 196 b is electrically connected to the further electrical poleconductor 186 b.

The further electrical pole conductor extension 196 b has a further poleconductor extension main body 204 b. The further electrical poleconductor extension 196 b has a further pole conductor sleeve 198 b. Thefurther electrical pole conductor 186 b is enclosed in the further poleconductor sleeve 200 b. The further pole conductor sleeve 200 b isarranged in the region of the bolt 124 b of the push and/or pull piston122 b. The further pole conductor sleeve 200 b is firmly connected to afurther pole conductor extension main body 204 b of the furtherelectrical pole conductor extension 196 b. In the present case, thefurther pole conductor sleeve 200 b is welded to the further poleconductor extension main body 204 b.

The further electrical pole conductor extension 196 b is designed atleast partially as a flat strip. The further pole conductor extensionmain body 204 b is designed as a flat strip. The further electrical poleconductor extension 196 b is made at least partially from metal. Thefurther pole conductor extension main body 204 b can be sheet metal, forexample.

The further electrical pole conductor extension 196 b is designed atleast partially as a sheet metal component, in particular a laser-cutsheet metal component. The further pole conductor extension main body204 b is a sheet metal component, in particular a laser-cut sheet metalcomponent. Alternatively, the further electrical pole conductorextension could be an at least partially generatively producedcomponent. For example, the further electrical pole conductor extensioncould be produced by means of a laser melting and/or laser sinteringmethod.

Moreover, the push and/or pull piston 122 b has at least one furtherinsulation material. In the present case, the latter is theaforementioned further insulation material. The further electrical poleconductor extension 196 b is at least partially covered with the furtherinsulation material. In the present case, the further electrical poleconductor extension 196 b is even at least largely covered with thefurther insulation material. In the present case, the further insulationmaterial encapsulates the further electrical pole conductor extension196 b. The further electrical pole conductor extension 196 b coveredwith the further insulation material forms at least partially the pushand/or pull piston 122 b.

In a side view, the further electrical pole conductor extension 196 b isdesigned corresponding to the electrical pole conductor extension 194 b.The further electrical pole conductor extension 196 b extends at leastsubstantially parallel to the electrical pole conductor extension 194 b.The electrical pole conductor extension 194 b and the further electricalpole conductor extension 196 b are arranged in the same plane. The planecan be a plane of symmetry of the push and/or pull piston 122 b. Theelectrical pole conductor extension 194 b engages at least partiallyaround the further electrical pole conductor extension 196 b.

In the present case, the further insulation material jointlyencapsulates the electrical pole conductor extension 194 b and thefurther electrical pole conductor extension 196 b. The electrical poleconductor extension 194 b and the further electrical pole conductorextension 196 b are electrically insulated from each other by thefurther insulation material. The further insulation material, theelectrical pole conductor extension 194 b and the further pole conductorextension 196 b at least largely form the push and/or pull piston 122 b.

The movement transducer 116 b has at least one pivot lever 132 b. Thepivot lever 132 b is electrically connected to the push and/or pullpiston 122 b. The pivot lever 132 b is electrically connected to theelectrical pole conductor extension 194 b. The pivot lever 132 b has apivot lever main body 134 b. The pivot lever main body 134 b is formedat least partially from metal. The pivot lever main body 134 b iselectrically connected to the tool piece 92 b. The pivot lever 132 b hasat least one further insulation material. In the present case, thelatter is the aforementioned further insulation material. The pivotlever main body 134 b is covered at least partially by the furtherinsulation material. In the present case, the pivot lever main body 134b is at least largely covered with the further insulation material.

The movement transducer 116 b comprises at least one coupling mechanism136 b. The coupling mechanism 136 b has at least one coupling element138 b. The coupling element 138 b is part of the push and/or pull piston122 b. The coupling element 138 b is electrically conductive. Thecoupling element 138 b is made at least partially from metal. Thecoupling element 138 b is at least partially free from the furtherinsulation material which surrounds the push and/or pull piston 122 b.Moreover, the coupling element 138 b is mechanically operativelyconnected to the electrical pole conductor extension 194 b. The couplingelement 138 b is electrically operatively connected to the electricalpole conductor extension 194 b. For example, the coupling element 138 bcan be welded to the electrical pole conductor extension 194 b.

The coupling mechanism 136 b has at least one corresponding couplingelement 140 b. The corresponding coupling element 140 b is part of apivot lever 132 b of the movement transducer 116 b. The correspondingcoupling element 140 b is connected to a pivot lever main body 134 b ofthe pivot lever 132 b. The corresponding coupling element 140 b is atleast partially free from the further insulation material. The couplingelement 138 b and the corresponding coupling element 140 b areelectrically operatively connected to each other. The surfaces of thecoupling element and of the corresponding coupling element 140 b thatbear on each other, and that are advantageously free from the furtherinsulation material, form an electrical sliding contact.

The movement transducer 116 b has at least one further pivot lever 150 b(cf. FIG. 9 ). The further pivot lever 150 b is electrically connectedto the push and/or pull piston 122 b. The further pivot lever 150 b iselectrically connected to the further electrical pole conductorextension 196 b. The further pivot lever 150 b has a further pivot levermain body 152 b. The further pivot lever main body 152 b is formed atleast partially from metal. The further pivot lever main body 152 b iselectrically connected to the tool piece 92 b. The further pivot lever150 b has at least one further insulation material. In the present case,the latter is the aforementioned further insulation material. Thefurther pivot lever main body 152 b is covered at least partially by thefurther insulation material. In the present case, the further pivotlever main body 152 b is at least largely covered with the furtherinsulation material.

The coupling mechanism 136 b has at least one further coupling element156 b. The further coupling element 156 b is part of the push and/orpull piston 122 b. The further coupling element 156 b is electricallyconductive. The further coupling element 156 b is formed at leastpartially from metal. The further coupling element 156 b of the pushand/or pull piston 122 b is at least partially free from the furtherinsulation material. The further coupling element 156 b is electricallyoperatively connected to the further electrical pole conductor extension196 b. Moreover, the further coupling element 156 b is mechanicallyoperatively connected to the further electrical pole conductor extension196 b. For example, the further coupling element 156 b is welded to thefurther electrical pole conductor extension 196 b.

The coupling mechanism 136 b has at least one further correspondingcoupling element 158 b. The corresponding coupling element 158 b is partof the further pivot lever 150 b. The further corresponding couplingelement 158 b is connected to a further pivot lever main body 152 b ofthe further pivot lever 150 b. The further corresponding couplingelement 158 b is at least partially free from the further insulationmaterial. The further coupling element 156 b and the furthercorresponding coupling element 158 b are electrically operativelyconnected to each other. Surfaces of the further coupling element 156 band of the further corresponding coupling element 158 b that bear oneach other, and that are advantageously free from the further insulationmaterial, form an electrical sliding contact.

Moreover, the end effector 90 b has an end-effector head 96 b. Theend-effector head 96 b is formed at least partially from a furtherinsulation material, for example the aforementioned further insulationmaterial. The end-effector head 96 b has an end-effector main body 206b. In the present case, the end-effector main body 206 b is formed atleast partially from a metal. The end-effector main body 206 b is atleast largely covered with the further insulation material. In thepresent case, the end-effector main body 206 b is covered completelywith the further insulation material.

Components of the endoscopic device 16 b that are covered with thefurther insulation material are covered seamlessly with the latter. Forthis purpose, main bodies of these components are encapsulated byinjection with the further insulation material, for example theend-effector head, the end-effector fork, the push and/or pull piston,the pivot lever, the further pivot lever or the like. The furtherinsulation material conforms snugly to further components, for examplethe tool piece, such that seams in which contamination could accumulatecan advantageously be avoided.

FIG. 10 shows schematically at least one part of an alternativeendoscopic device 16 c in a sectional view along a shaft 26 c of theendoscopic device 16 c, according to the principles of the presentdisclosure in a sectional view along a shaft 26 c of the endoscopicdevice 16 c in a straight position. Moreover, FIG. 11 showsschematically at least one part of the endoscopic device 16 c in asectional view along the shaft 26 c of the endoscopic device 16 c in adeflection position. The present exemplary embodiment of the endoscopicdevice 16 c differs from the preceding one essentially in terms of adeflection mechanism 46 c of the endoscopic device 16 c.

The deflection mechanism 46 c has at least one first connection member48 c. In the present case, the deflection mechanism 46 c has a pluralityof first connection members. Moreover, the deflection mechanism 46 c hasat least one second connection member 50 c. In the present case, thedeflection mechanism 46 c has a plurality of second connection members.

FIG. 10 shows the deflection mechanism 46 c in a straight position. Thefirst connection member 48 c and the second connection member 50 c arearranged relative to each other in a straight position. In the straightposition, a first axis of rotational symmetry 52 c of the firstconnection member 48 c and a second axis of rotational symmetry 54 c ofthe second connection member 50 c are oriented at least substantiallyparallel to each other.

The first connection member 48 c has a first geometric midpoint 64 c.Moreover, the second connection member 50 c has a second geometricmidpoint 66 c. In the straight position, the first geometric midpoint 64c and the second geometric midpoint 66 c are arranged offset relative toeach other.

When the first connection member 48 c and the second connection member50 c are arranged in the straight position, a straight-position spacing68 c exists between the first connection member 48 c and secondconnection member 50 c. In the straight position, the straight-positionspacing 68 c is defined by a shortest connection between the firstgeometric midpoint 64 c and second geometric midpoint 66 c.

FIG. 11 shows the deflection mechanism 46 c in a deflection position.The first connection member 48 c and the second connection member 50 care arranged relative to each other in a deflection position. In thedeflection position, the first axis of rotational symmetry 52 c of thefirst connection member 48 c and the second axis of rotational symmetry54 c of the second connection member 50 c are arranged at an angle toeach other. In the deflection position, an angle between the first axisof rotational symmetry 52 c and the second axis of rotational symmetry54 c is at least 10°. In the deflection position, the first geometricmidpoint 64 c and the second geometric midpoint 66 c are arranged offsetrelative to each other.

When the first connection member 48 c and the second connection member50 c are arranged in the deflection position, a deflection spacing 70 cexists between the first connection member 48 c and second connectionmember 50 c. In the deflection position, the deflection spacing 70 c isdefined by a shortest connection between the first geometric midpoint 64c and second geometric midpoint 66 c. The deflection-position spacing 70c is greater than the straight-position spacing 68 c.

In a deflection of the first connection member 48 c and of the secondconnection member 50 c relative to each other, as may occur for exampleduring a transfer of the connection members from the straight positionto the deflection position, they are configured such that theirgeometric midpoints 64 c, 66 c increases by at least 0.3 μm per degreeof a deflection of these from the straight position. In the deflectionposition, there is a lengthening of the deflection mechanism 46 c bycomparison with the straight position. When the connection members 48 c,50 c are pretensioned, for example by a control train of the endoscopicdevice 16 c, the pretensioning in the deflection position increasescompared to a pretensioning that acts on the connection members in thestraight position. A restoring action can be achieved, as a result ofwhich the connection members return automatically to a straightposition.

In the present case, the deflection mechanism 46 c has three firstconnection members 48 c. Moreover, the deflection mechanism 46 c hasfour second connection members 50 c. By virtue of the arrangement of theplurality of first connection members and of the plurality of secondconnection members, a total of six interacting combinations of a firstconnection member and a second connection member are thus obtained.

The first connection member 48 c has at least one outer contour 72 c.The outer contour 72 c is directed outward. The design of the outercontour 72 c differs from concave. In the present case, the outercontour 72 c is of convex design. The outer contour 72 c describes anarc of a circle 76 c. The outer contour 72 c has at least partially ashape of a circle involute. Alternatively or in addition, the outercontour could accordingly have at least in part a shape of an arc of acircle, a cycloid, a paraboloid and/or an ellipsoid.

There exists a diameter 74 c of a smallest conceivable arc of a circle76 c still just completely enclosing the outer contour 72 c of the firstconnection member 48 c. This diameter 74 c is greater than a maximumconnection member width 208 c of the first connection member 48 c. Theconnection member width 208 c is measured at least substantiallyperpendicular to the direction of longitudinal extent 38 c of a shaft 26c of the endoscopic device 16 c.

The second connection member 50 c has at least one inner contour 78 c.The inner contour 78 c is directed inward. The design of the innercontour 78 c differs from concave. Moreover, in the present case, theinner contour 78 c is straight. The inner contour 78 c is at leastpartially different from an arc of a circle 76 c. Alternatively or inaddition, the inner contour could accordingly have at least in part ashape of an arc of a circle, a circle involute, a cycloid, a paraboloidand/or an ellipsoid.

The outer contour 72 c and the inner contour 78 c lie opposite eachother. The inner contour 78 c of the second connection member 50 c isconfigured for interaction with the outer contour 72 c of the firstconnection member 48 c, and vice versa. The outer contour 72 c and theinner contour 78 c bear at most partially on each other.

FIG. 12 shows a schematic perspective view of at least one part of afurther exemplary embodiment of a further endoscopic device 16 d in anassembly state, according to the principles of the present disclosure.Moreover, FIGS. 13 and 14 show further assembly states of the endoscopicdevice 16 d. The present exemplary embodiment of the endoscopic device16 d differs from the preceding one essentially in terms of a deflectionmechanism 46 d of the endoscopic device 16 d.

The deflection mechanism 46 d has at least one control train 80 d. Thecontrol train 80 d is connected to an end portion 28 d of the shaft 26d. A part of the control train 80 d is arranged forming a loop-back 84 din the region of the end portion 28 d of the shaft 26 d. The loop-back84 d has a loop-back radius 212 d. The loop-back radius 212 d is greaterthan the diameter 74 d of the control train 80 d. The loop-back radius212 d is at least twice as great as the diameter 74 d of the controltrain 80 d.

The end portion 28 d of the shaft 26 d has at least one loop-back guide210 d. The control train 80 d is arranged at least partially in theloop-back guide 210 d. A portion of the control train 80 d forming theloop-back 84 d is arranged in the loop-back guide 210 d. In a side view,the loop-back guide 210 d has a keyhole-shaped contour. Before theloop-back 84 d, a loop-back guide 210 d guides the control train 80 d inthe direction of the end portion 28 d of the shaft 26 d. After theloop-back 84 d, the loop-back guide 210 d guides the control train 80 dback toward the end portion 28 d of the shaft 26 d.

The loop-back guide 210 d guides the control train 80 d at least in partsubstantially parallel to an axis of principal extent 120 d of the shaft26 d. There exists a smallest spacing between a portion guided to theloop-back 84 d and a portion of the control train 80 d guided back fromthe loop-back 84 d. This smallest spacing is smaller than twice theloop-back radius 212 d of the loop-back 84 d or the loop-back guide 210d.

The loop-back guide 210 d has an angle of circumferential extent 214 d.The angle of circumferential extent 214 d is an angle that describes theradial angle part of the loop-back 84 d. The angle of circumferentialextent 214 d measures more than 180°. In the present case, the angle ofcircumferential extent 214 d measures at least 210°. Moreover, the angleof circumferential extent 214 d has an angle of less than 360°. In thepresent case, the angle of circumferential extent 214 d is at most 340°.

For radial insertion of the control train 80 d into the loop-back guide210 d, the latter is radially opened to the outside. Alternatively, theloop-back guide could be opened to the inside. It is also conceivablethat the loop-back guide can be covered radially outwardly by means of acovering. For this purpose, a covering could be able to be coupled to anend portion of a shaft. The covering at least partially covers an endportion 28 d of the shaft 26 d, in order to close the loop-back guide210 d radially to the outside.

Moreover, the end portion 28 d has a plurality of loop-back guides 210d, which are arranged offset relative to one another along thecircumference of the shaft 26 d. Of the plurality of loop-back guides,for the sake of clarity only the loop-back guide 210 d is provided witha reference sign. A plurality of control trains are arranged in theplurality of loop-back guides. Here, one control train 80 d is arrangedin each one of the plurality of loop-back guides.

FIG. 13 shows a schematic perspective view of at least one part of anadditional endoscopic device 16 e in an assembly state, according to theprinciples of the present disclosure. FIG. 14 shows a schematicperspective view of the part of the endoscopic device 16 e in anadditional assembly state. FIG. 15 moreover shows a schematicperspective view of at least the part of the further endoscopic device16 e in a mounted state. The present exemplary embodiment of the furtherendoscopic device 16 e differs from the preceding ones essentially interms of a deflection mechanism 46 e of the endoscopic device 16 e.

The deflection mechanism 46 e has at least one first connection member48 e. Moreover, the deflection mechanism 46 e has at least one secondconnection member 50 e.

The second connection member 50 e has at least one passageway 82 e.Moreover, the second connection member 50 e has at least one radialopening 216 e. The radial opening 216 e is connected to the passageway82 e. A control train 80 e is insertable into the passageway 82 e viathe radial opening 216 e.

The second connection member 50 e has at least one connection membermain body 218 e. The connection member main body 218 e has the radialopening 216 e. Moreover, the connection member main body 218 e has thepassageway 82 e. The connection member main body 218 e has a connectionrecess 220 e. The connection recess 220 e extends at least partiallyradially. In the present case, the connection recess 220 e extendscompletely radially. The connection recess 220 e of the connectionmember main body 218 e connects the passageway 82 e and the radialopening 216 e to each other.

The second connection member 50 e has at least one closure body 222 e.The closure body 222 e is configured to close the radial opening 216 eat least in an inserted state of the control train 80 e. In the presentcase, the closure body 222 e is designed as a clamping ring. The closurebody 222 e is connectable to the connection member main body 218 e. Inthe present case, the closure body 222 e is connectable to theconnection member main body 218 e by force-fit and/or form-fitengagement. Moreover, the closure body 222 e is cohesively bonded orwelded to the connection member main body 218 e.

FIG. 16 shows a schematic plan view of at least one part of analternative endoscopic device 16 f according to the principles of thepresent disclosure. The present exemplary embodiment of the endoscopicdevice 16 f differs from the preceding one essentially in terms of aconfiguration of a deflection mechanism 46 f of the endoscopic device 16f.

A second connection member 50 f of the deflection mechanism 46 f has atleast one connection member main body 218 f. The connection member mainbody 218 f has at least one passageway 82 f. Moreover, the connectionmember main body 218 f has at least one radial opening 216 f. Moreover,the connection member main body 218 f has a connection recess 220 f. Theconnection recess 220 f connects the radial opening 216 f to thepassageway 82 f.

In the present case, the connection recess 220 f extends radially inpart. The connection recess 220 f describes a curved path. In thepresent case, the radially extending recess describes a hook-shapedcurved path. The connection recess 220 f has the shape of a curved path.The curved path has a curved-path angle of more than 90°. In the presentcase, the curved path has a curved-path angle of more than 150°.Moreover, the curved-path angle is at most 180°. Advantageously, it ispossible to dispense here with a closure body according to the precedingexemplary embodiment.

FIG. 17 shows a schematic perspective view of at least one part of analternative endoscopic device 16 g according to the principles of thepresent disclosure. The present exemplary embodiment differs from thepreceding ones essentially in terms of a configuration of a deflectionmechanism 46 g of the endoscopic device 16 g.

A second connection member 50 g of the deflection mechanism 46 g has atleast one connection member main body 218 g. The connection member mainbody 218 g has at least one passageway 82 g. Moreover, the connectionmember main body 218 g has at least one radial opening 216 g. Moreover,the connection member main body 218 g has a connection recess 220 g. Theconnection recess 220 g connects the radial opening 216 g to the guidehole.

In the present case, the radial opening 216 g extends at an angle to anaxis of rotational symmetry of the second connection member. Moreover,the radial opening 216 g can have a profile like a curved path. Forexample, in such a profile, a continuous profile can correspondapproximately to a cosine wave.

FIG. 18 shows a schematic perspective view of at least one part of analternative endoscopic device 16 h in an assembly state according to theprinciple of the present disclosure. FIG. 19 shows a schematicperspective view of the part of the endoscopic device 16 h in a mountedstate. Moreover, FIG. 20 shows a schematic perspective view of the partof the endoscopic device 16 h in an assembly state. Moreover, FIG. 21shows a schematic perspective view of the part of the endoscopic device16 h in a further assembly state. FIG. 22 shows a schematic perspectiveview of at least the part of the endoscopic device 16 h in a mountedstate. The present exemplary embodiment of the endoscopic device 16 hdiffers from the preceding ones essentially in terms of a configurationof a deflection mechanism 46 h of the endoscopic device 16 h.

The deflection mechanism 46 h has a second connection member 50 h. Theconnection member 50 h comprises at least one connection member mainbody 218 h. The connection member main body 218 h has at least onepassageway 82 h. Moreover, the connection member main body 218 h has aradial opening 216 h. Moreover, the connection member main body 218comprises a connection recess 220 h. The connection recess 220 hconnects the radial opening 216 h to the passageway 82 h.

A second connection member has at least one further connection membermain body 224 h. The further connection member main body 224 h has atleast one further passageway 226 h. In the present case, the connectionmember main body 218 h and the further connection member main body 224 hare at least substantially identical to each other. Moreover, thefurther connection member main body 224 h has a further radial opening228 h. Moreover, the further connection member main body 224 h has afurther connection recess 230 h. The further connection recess 230 hconnects the further radial opening 228 h to the further passageway 226h.

The connection member main body 218 h and the further connection membermain body 224 h can be coupled to each other. The connection member mainbody 218 h and the further connection member main body 224 h areconnectable to each other by force-fit and/or form-fit engagement. In aposition in which a radial opening 216 h of the connection member mainbody 218 h and the further radial opening 228 h of the furtherconnection member main body 224 h are congruent with each other, theconnection member main body 218 h and the further connection member mainbody 224 h are separated from each other.

In a further position, in which the passageway 82 h of the connectionmember main body 218 h and the further passageway 226 h of the furtherconnection member main body 224 h are congruent with each other, theconnection member main body 218 h and the further connection member mainbody 224 h are connectable to each other. A control train 80 e of thedeflection mechanism 46 h keeps the connection member main body 218 hand the further connection member main body 224 h pretensioned in amounted state, such that these are pressed together. Alternatively or inaddition, the connection member main bodies could be connectable bymeans of a quick connector 248 h, for example a bayonet closure, a screwclosure or the like.

FIG. 23 shows a schematic side view of at least one part of analternative endoscopic device 16 i in a straight position according tothe principles of the present disclosure. Moreover, FIG. 24 showsschematically the part of the endoscopic device 16 i from FIG. 23 in asectional view along a shaft 26 i of the endoscopic device 16 i in thestraight position. FIG. 25 shows a schematic side view of the part ofthe endoscopic device 16 i in a deflection position. FIG. 26 showsschematically the part of the endoscopic device 16 i in a sectional viewalong the shaft 26 i of the endoscopic device 16 i in the deflectionposition. The present exemplary embodiment of the endoscopic device 16 idiffers from the preceding one essentially in terms of a deflectionmechanism 46 i of the endoscopic device 16 i.

The deflection mechanism 46 i has at least one first connection member48 i. In the present case, the deflection mechanism 46 i has a pluralityof first connection members. Moreover, the deflection mechanism 46 i hasat least one second connection member 50 i. In the present case, thedeflection mechanism 46 i has a plurality of second connection members.

The first connection member 48 i is formed at least partially from afirst material 232 i. The first material 232 i is assigned to thesubstance group of plastics. In the present case, the first material 232i is an elastomer. The first material 232 i has a first elasticity.

The second connection member 50 i is formed at least partially from asecond material 234 i. The second material 234 i is assigned to thesubstance group of plastics. The second material 234 i is athermoplastic. Alternatively, the second material could also be a metal,a ceramic or the like.

The second material 234 i has a second elasticity. The second elasticityof the second material 234 i differs from the first elasticity of thefirst material 232 i. In the present case, an elasticity of the firstmaterial 232 i is greater than an elasticity of the second material 234i.

The second connection member 50 i is arranged at least partiallycoaxially surrounding the first connection member 48 i. The firstconnection member 48 i has a tubular design. The second connectionmember 50 i has a ring-like design.

The first connection member 48 i and the second connection member 50 iare connected to each other at least by form-fit engagement. The firstconnection member 48 i and the second connection member 50 i engage atleast partially in each other in an engagement region 236 i. The firstconnection member 48 i has a first profiling 238 i for connecting it tothe second connection member 50 i. In the present case, the profiling238 i has the form of an undulation. The second connection member 50 ihas a second profiling 240 i for connecting it to the first connectionmember 48 i. The second profiling 240 i is designed corresponding to thefirst profiling 238 i. For an at least form-fit connection of the firstconnection member 48 i and of the second connection member 50 i, thefirst profiling 238 i and the second profiling 240 i engage in eachother and form the engagement region 236 i.

Moreover, the first connection member 48 i and the second connectionmember 50 i are connected to each other by at least cohesive bonding.For example, the first connection member 48 i and the second connectionmember 50 i could be adhesively fixed to each other. In the presentcase, however, the first connection member 48 i and the secondconnection member 50 i are injected onto each other. In this way, atleast the first connection member 48 i and the second connection member50 i at least partially form a multi-component injection molded assembly242 i of the endoscopic device 16 i.

In the present case, the plurality of first connection members areformed integrally with one another. The plurality of first connectionmembers together form a hose. The principal extent of the hosecorresponds at least substantially to a principal extent of a deflectionmechanism 46 i of the endoscopic device 16 i. The plurality of secondconnection members are then in each case arranged offset relative toeach other about the hose. Thus, the plurality of first connectionmembers and the plurality of second connection members together form themulti-component injection molded assembly 242 i.

FIG. 27 shows a schematic perspective view of at least one part of afurther endoscopic device 16 j according to the principles of thepresent disclosure. The present exemplary embodiment of the endoscopicdevice 16 j differs from the preceding ones essentially in terms of amodular configuration of the endoscopic device 16 j.

The endoscopic device 16 j has at least one end-effector module 244 j.The end-effector module 244 j comprises at least one end effector 90 j.Moreover, the end-effector module 244 j has an actuation train 106 j.Moreover, the end-effector module 244 j has a movement transducer 116 j.The end-effector module 244 j is designed as a re-usable module. Forexample, the end-effector module 244 j is configured so as to beautoclavable, such that it can be cleaned after an intervention and thusused a number of times. Alternatively, the end-effector module could bedesigned as a disposable module. For example, the end-effector modulecould be designed so as not to be autoclavable. It would be conceivablethat, if an attempt is made to re-use it, the disposable moduledeliberately presents a defect, which impedes its function or detectsand indicates repeat use.

The endoscopic device 16 j moreover comprises at least one shaft module246 j. The shaft module 246 j has at least the shaft 26 j. Moreover, theshaft module 246 j has a deflection mechanism 46 j. The shaft module 246j is designed as a disposable module. For example, the shaft module 246j could be designed so as not to be autoclavable. It would beconceivable that, if an attempt is made to re-use it, the disposablemodule deliberately presents a defect, which impedes its function ordetects and indicates repeat use. Alternatively, the shaft module couldbe designed as a re-usable module. For example, the shaft module isconfigured to be autoclavable, such that it can be cleaned after anintervention and can thus be used a number of times. Moreover, the shaftmodule 246 j can have all the components of the endoscopic device 16 jthat are not already assigned to the end-effector module 244 j.

The end-effector module 244 j and the shaft module 246 j areexchangeably connectable to each other. The endoscopic device 16 jcomprises at least one quick connector 248 j. In the present case, thequick connector 248 j is designed as a screw connector. Alternatively,the quick connector could also be a snap-fit connection, a clampingconnection, a bayonet connection or the like.

The quick connector 248 j has a quick-connector piece 250 j. Moreover,the quick connector 248 j has a quick-connector piece 252 jcorresponding to the quick-connector piece 250 j. In the present case,the quick-connector piece 250 j is a threaded piece. The quick-connectorpiece 250 j has an inner thread. In the present case, the correspondingquick-connector piece 252 j is a corresponding threaded piece. Thecorresponding quick-connector piece 252 j has an outer thread.

The quick connector 248 j is at least partially connected integrally tothe end effector 90 j. An end-effector head 96 j of the end effector 90j is formed integrally with the quick connector 248 j. In the presentcase, the end portion 28 j of the shaft 26 j has the correspondingquick-connector piece 252 j. Moreover, the quick connector 248 j is atleast partially formed by an end-effector head 96 j of the end effector90 j. In the present case, the end-effector head 96 j has thecorresponding quick-connector piece 252 j.

In order to achieve exchangeability and thus variability of use, theendoscopic device 16 j has at least one or more further end-effectormodules. Moreover, the endoscopic device 16 j can have at least one ormore further shaft modules 246 j.

10 surgical system 12 surgical robot 14 controller 16 endoscopic device18 robot arm 20 endoscopic instrument 22 endoscope 26 shaft 28 endportion 30 further end portion 32 middle portion 34 main framework 36shaft jacket 38 direction of longitudinal extent 40 longitudinal extent42 deflectable portion 44 plane 46 deflection mechanism 48 firstconnection member 50 second connection member 52 first axis ofrotational symmetry 54 second axis of rotational symmetry 56 cuff 58further cuff 60 joint head 62 joint socket 64 first geometric midpoint66 second geometric midpoint 68 straight-position spacing 70deflection-position spacing 72 outer contour 74 diameter 76 arc of acircle 78 inner contour 80 control train 82 passageway 84 loop-back 86train receptacle 88 passageway 90 end effector 92 tool piece 94 furthertool piece 96 end-effector head 98 end-effector fork 100 end-effectorlimb 102 further end-effector limb 104 end-effector bushing 106actuation train 108 flexible portion 110 inflexible portion 112 innercable 114 reinforcement 116 movement transducer 118 pivot axis 120 axisof principal extent 122 push and/or pull piston 124 bolt 126 pistonguide 128 actuation train receptacle 130 armature 132 pivot lever 134pivot lever main body 136 coupling mechanism 138 coupling element 140corresponding coupling element 142 rotary bearing 144 bearing element146 corresponding bearing element 148 rotary axis 150 further pivotlever 152 further pivot lever main body 154 further coupling mechanism156 further coupling element 158 further corresponding coupling element160 further pivot axis 162 further rotary bearing 164 further bearingelement 166 further corresponding bearing element 168 further rotaryaxis 170 guide bearing 172 slotted guide 174 further slotted guide 176additional slotted guide 178 guide pin 180 pin receptacle 182 furtherpin receptacle 184 electrical pole conductor 186 further electrical poleconductor 188 outer cable 190 electrical insulator 192 furtherelectrical insulator 194 electrical pole conductor extension 196 furtherelectrical pole conductor extension 198 pole conductor sleeve 200further pole conductor sleeve 202 pole conductor extension main body 204further pole conductor extension main body 206 end-effector main body208 connection member width 210 loop-back guide 212 loop-back radius 214angle of circumferential extent 216 radial opening 218 connection membermain body 220 connection recess 222 closure body 224 further connectionmember main body 226 further passageway 228 further radial opening 230further connection recess 232 first material 234 second material 236engagement region 238 first profiling 240 second profiling 242multi-component injection molded assembly 244 end-effector module 246shaft module 248 quick connector 250 quick-connector piece 252corresponding quick-connector piece

We claim:
 1. An endoscopic device having at least one shaft, which hasat least one portion deflectable in at least one plane, and having atleast one deflection mechanism, which is configured to deflect thedeflectable portion and comprises, arranged in series, at least onefirst connection member and at least one second connection memberinteracting for a deflection with the first connection member, wherein,when the first connection member and the second connection member arearranged in a straight position relative to each other, astraight-position spacing exists which is defined by a shortestconnection between a geometric midpoint of the first connection memberand a geometric midpoint of the second connection member, and, when thefirst connection member and the second connection member are arranged ina deflection position relative to each other, a deflection-positionspacing exists which is defined by a shortest connection between ageometric midpoint of the first connection member and a geometricmidpoint of the second connection member, and the deflection-positionspacing of the connection members in the deflection position is greaterthan the straight-position spacing of the connection members in thestraight position.
 2. The endoscopic device as claimed in claim 1,wherein a spacing between the geometric midpoints of the connectionmembers increases at least by 0.3 μm per degree of a deflection of thesefrom the straight position.
 3. The endoscopic device as claimed in claim1, wherein the first connection member has at least one outer contourand the second connection member has at least one inner contourinteracting with the outer contour of the first connection member,wherein the inner contour and/or the outer contour are/is other thanconcave.
 4. The endoscopic device as claimed in claim 3, wherein theouter contour and/or the inner contour are convex.
 5. The endoscopicdevice as claimed in claim 3, wherein the outer contour and the innercontour bear at most in part on each other.
 6. The endoscopic device asclaimed in claim 3, wherein a diameter of a smallest arc of a circlestill completely enclosing the outer contour is greater than aconnection member width of the first connection member measuredperpendicularly to a principal extent of the shaft.
 7. The endoscopicdevice as claimed in claim 3, wherein the outer contour and/or the innercontour are/is at least in part different from an arc of a circle. 8.The endoscopic device as claimed in claim 3, wherein the outer contourand/or the inner contour are/is designed corresponding at least in partto a shape of an arc of a circle, a circle involute, a cycloid, aparaboloid and/or an ellipsoid.
 9. The endoscopic device as claimed inclaim 1, wherein it comprises at least one flexurally slack controltrain on which the connection members are arranged in rows and which, inthe straight position of the connection members, keeps the connectionmembers pretensioned.
 10. The endoscopic device as claimed in claim 1,wherein the deflection mechanism has a number of first connectionmembers and a number of second connection members, wherein a differencebetween the number of the first connection members and the number of thesecond connection members, is different than zero.
 11. An endoscopeand/or endoscopic instrument having an endoscopic device as claimed inclaim
 1. 12. A surgical system having at least one endoscopic device asclaimed in claim 1 and having at least one surgical robot.
 13. A methodfor operating and/or for producing an endoscopic device as claimed inclaim
 1. 14. The endoscopic device as claimed in claim 1, wherein the atleast one portion deflectable is positioned at a distal end of theshaft.